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A Classification of Feedback Linearizable Mechanical Systems with 2 Degrees of Freedom

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Advanced, Contemporary Control

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1196))

Abstract

A classification of feedback linearizable mechanical control system with 2 DOF is proposed. We develop 3 types of linearization and for each we establish a normal form. Then, we characterize each class and calculate linearizing outputs. As a consequence, necessary and sufficient linearizability conditions are formulated for all cases. We illustrate our result by mechanical linearization of the TORA system.

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Correspondence to Marcin Nowicki .

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Nowicki, M., Respondek, W. (2020). A Classification of Feedback Linearizable Mechanical Systems with 2 Degrees of Freedom. In: Bartoszewicz, A., Kabziński, J., Kacprzyk, J. (eds) Advanced, Contemporary Control. Advances in Intelligent Systems and Computing, vol 1196. Springer, Cham. https://doi.org/10.1007/978-3-030-50936-1_54

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