Transverse Feedback Linearization with Partial Information for Single-Input Systems

Feedback linearization of Single - Input and Multi - Input Control System ?

A new algorithm is proposed for computing locally the linearizing output of single-input and multi-input nonlinear affine system. The algorithm modifies the extended Goursat normal form to iteratively obtain the successive integrations of one dimensional distributions of control system. The algorithm takes ideas from both vector field approach of feedback linearization and exterior differential...

Partial feedback linearization of underactuated mechanical systems

On Local Transverse Feedback Linearization

Given a control-affine system and a controlled invariant submanifold, we present necessary and sufficient conditions for local feedback equivalence to a system whose dynamics transversal to the submanifold are linear and controllable. A key ingredient used in the analysis is the new notion of transverse controllability indices of a control system with respect to a set.

On Global Transverse Feedback Linearization

Necessary and sufficient conditions for global transverse feedback linearization are presented, together with easy-to-check sufficient conditions.

Input-Output Feedback Linearization of Nonlinear Time-Delay Systems

In this paper, the input-output linearization problem for a class of single-input single-output nonlinear systems with multiple delays in the input and the state is studied. The problem is solved by means of various static or dynamic compensators, including state and output feedback. The mathematical setting is based on so-called Roesser models for this class of systems and on some noncommutati...