|
|||||
|
|
Stability and robustness for nonlinear systems decoupled and linearized by feedback |
|
| Authors: | B. Charlet |
| Affiliation: | 1. Key Laboratory of Safe and Effective Coal Mining, Ministry of Education, Anhui University of Science and Technology, Huainan, Anhui 232001, China;2. School of Energy and Safety, Anhui University of Science and Technology, Huainan, Anhui 232001, China;3. School of Civil and Architecture, Anhui University of Science and Technology, Huainan, Anhui 232001, China |
| Abstract: | We give some stability and robustness results for nonlinear systems which are transformed by feedback and immersion into decoupled linear systems. In particular we give a necessary condition involving the Euler-Poincaré characteristic of asymptotic unobservable submanifolds. This condition is successfully applied to a non-minimum-phase example (see Byrnes and Isidori [2]) borrowed from robotics which displays K-stability. |
| Keywords: | K-stability Robustness Feedback decoupling and linearization Nonlinear system Immersion Euler-Poincaré characteristic |
| 本文献已被 ScienceDirect 等数据库收录！ | |