By Henk Nijmeijer

ISBN-10: 038797234X

ISBN-13: 9780387972343

ISBN-10: 1441930914

ISBN-13: 9781441930910

ISBN-10: 354097234X

ISBN-13: 9783540972341

This quantity offers with controllability and observability homes of nonlinear platforms, in addition to quite a few how you can receive input-output representations. The emphasis is on primary notions as (controlled) invariant distributions and submanifolds, including algorithms to compute the mandatory feedbacks.

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Extra info for Nonlinear Dynamical Control Systems

Example text

12) It follows linear tp: . U C that map, -, rp" p • _a_I aX i then a diffeomorphism, P E tIl. In -, a 1 p = then F"p particular, and so is any rp"p: a non-singular coordinate TptI .... T rp(p) map [~n has an Define rp~ p ar i rp(p)' a 1 , ... '-a' a1 {-a' Xl is all rp(U} C [fin is a diffeomorphism, }1 .... ~nverse if F for p smooth f around p Xn p i E ~, } is a basis for Tpil. 14) af a-r(x = ! with f (p), ... l ,xn (p») the local representative of simply writ~ rentiating at -a' (p). t. "i the local a- that -a~ (p) f representative a4-1 Instead of and we conclude (f) we will usually Xi p is obtained by diffe- xl f of with respect to its i-th argument.

92) In order that lX,YJ p E TpH we have to check conditions (i). 21. Y(g)} - Yp{X(f)'g + f'X(g)} - Xp[Y(f»)g(p) + Yp(f)Xp(g) ... Xp(f)l'p(g) + f(p)Xp(Y(g») + - Yp(X(f»)g(p) - Xp(f)Yp(g) Yp{f)Xp(g) - f(p)Yp(X(g») '" (X,Ylp(i)'g(p) + f(p)·[X,Ylp(g). 93) 49 If X and Yare given in local X(x) = (X1(x), ... ,Xn(X»)T, coordinates respectively (Xl"" ,X,,) as the vectors 1"(x) = (l'l(X), ... ::. X,l'J p depends in a smooth wayan p, so that indeed [X,i'1 is a smooch vectorfield. The following properties of the Lie bracket follow immediately from the definition.

Nverse if F for p smooth f around p Xn p i E ~, } is a basis for Tpil. 14) af a-r(x = ! with f (p), ... l ,xn (p») the local representative of simply writ~ rentiating at -a' (p). t. "i the local a- that -a~ (p) f representative a4-1 Instead of and we conclude (f) we will usually Xi p is obtained by diffe- xl f of with respect to its i-th argument. Let now coordinate and (U ,I{) (ll, 1M be overlapping coordinate charts yielding a Sex) transformation.. , Xp P E U n V, be expressed in the basis corresponding to (U,I{) as a (2 15) and in the basis for Tpi'!

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Nonlinear Dynamical Control Systems by Henk Nijmeijer


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