非線形システムに対する入力から状態までの近似線形化法とAcrobotの制御(機械力学,計測,自動制御)

概要

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In this paper, we consider a design method of approximate feedback linearization for non-linear systems to which the exact linearization method is not applicable. We adopt a two-step procedure to solve the approximate linearization. First, a state transformation matrix is settled, so that the non-linear system is transformed approximately into the controllable canonical form. Second, a standard non-linear linearization method is used to transform the controllable canonical form into a stable linear system. Finally, the application of the proposed method to the Acrobot, which is known as a system to which the exact linearization method cannot be applied, is shown to illustrate the effectiveness of the proposed method.
一般社団法人日本機械学会の論文
2003-12-25