Published December 1993
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Applications and extensions of Goursat normal form to control of nonlinear systems
- Creators
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Murray, Richard M.
Chicago
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Abstract
The Goursat normal form theorem gives conditions under which a Pfaffian exterior differential system is equivalent to a certain normal form. This paper details how the Goursat normal form and its extensions provide a unified framework for understanding feedback linearization, chained form, and differential flatness.
Additional Information
© 1993 IEEE. I would like to thank R. Gardner and W. Sluis of the Fields Institute for Mathematical Sciences, Ontario, Canada for many fruitful conversations on the use of exterior differential systems for studying chained systems and for pointing out the connections between Goursat normal form and chained systems. I have also benefited from numerous discussions on this material with Linda Bushnell, Shankar Sastry, and Dawn Tilbury at UC Berkeley and Michiel van Nieuwstadt and Muruhan Rathinam at Caltech.Attached Files
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- CaltechAUTHORS:20190318-100713740
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