Lecture

Exact Linearization: Integrator Chain Stabilization

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In course

ME-523: Nonlinear Control Systems

Les systèmes non linéaires sont analysés en vue d'établir des lois de commande. On présente la stabilité au sens de Lyapunov, ainsi que des méthodes de commande géométrique (linéarisation exacte). Divers exemples illustrent la théorie (exercices papier cra ...

Description

This lecture covers the concept of exact linearization in the context of a chain of integrators, discussing the conditions on the output and the error equation for stabilizing the integrator chain. The instructor explains the principle of gearing the output until the input appears, and demonstrates how to determine a particular function to achieve exact linearization. Geometric tools such as the derivative of Lie are used to analyze the system, obtaining loopback and transforming it into a chain of integrators. The lecture also addresses the control law for the integrator chain and the choice of characteristic polynomial for stability.

Instructor

Philippe Müllhaupt

Expertise Nonlinear Control (Geometry and Algebra)Classical DynamicsRoboticsStatistics Mission Provide rigorous technical and scientific training in nonlinear control, classical mechanics, and statistical theory Current Work Research and teaching in the fields of control theory, statistics, dynamical systems, and general mechanics. Philippe Mullhaupt received his Diplôme d Education Ingï¿½nieur | Electricitï¿½ 1993 – 1993 EPFL DEA | Automatique et Traitement du Signal 199

Official source

Related concepts (32)

Supply chain management

In commerce, supply chain management (SCM) deals with a system of procurement (purchasing raw materials/components), operations management (ensuring the production of high-quality products at high speed with good flexibility and low production cost), logistics and marketing channels, so that the raw materials can be converted into a finished product and delivered to the end customer.

Integration by substitution

In calculus, integration by substitution, also known as u-substitution, reverse chain rule or change of variables, is a method for evaluating integrals and antiderivatives. It is the counterpart to the chain rule for differentiation, and can loosely be thought of as using the chain rule "backwards". Before stating the result rigorously, consider a simple case using indefinite integrals. Compute Set This means or in differential form, Now where is an arbitrary constant of integration.

Value chain

A value chain is a progression of activities that a firm operating in a specific industry performs in order to deliver a valuable product (i.e., good and/or service) to the end customer. The concept comes through business management and was first described by Michael Porter in his 1985 best-seller, Competitive Advantage: Creating and Sustaining Superior Performance. The idea of the value chain is based on the process view of organizations, the idea of seeing a manufacturing (or service) organization as a system, made up of subsystems each with inputs, transformation processes and outputs.

Supply chain

A supply chain, sometimes expressed as a "supply-chain", is a complex logistics system that consists of facilities that convert raw materials into finished products and distribute them to end consumers or end customers. Meanwhile, supply chain management deals with the flow of goods within the supply chain in the most efficient manner. In sophisticated supply chain systems, used products may re-enter the supply chain at any point where residual value is recyclable. Supply chains link value chains.

Vertical integration

In microeconomics, management and international political economy, vertical integration is an arrangement in which the supply chain of a company is integrated and owned by that company. Usually each member of the supply chain produces a different product or (market-specific) service, and the products combine to satisfy a common need. It contrasts with horizontal integration, wherein a company produces several items that are related to one another.

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