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

Marcin Nowicki; Witold Respondek

doi:10.1007/978-3-030-50936-1_54

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Title

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

Authors

Marcin Nowicki (WARiE) ^{[ 1 ][ 2.2 ][ P ]}
Witold Respondek

^{[ 1 ]} Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | ^{[ P ]} employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication

2020

Chapter type

chapter in monograph / paper

Publication language

english

Keywords

EN

mechanical systems
feedback linearization
classification
normal forms

Abstract

EN 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.

Date of online publication

24.06.2020

Pages (from - to)

638 - 650

DOI

10.1007/978-3-030-50936-1_54

URL

https://link.springer.com/chapter/10.1007/978-3-030-50936-1_54

Book

Advanced, Contemporary Control : Proceedings of KKA 2020 - The 20th Polish Control Conference, Łódź, Poland, 2020

Presented on

20th Polish Control Conference (KKA 2020), 14-29.10.2020, Łódź, Polska