Los Angeles Community College DistrictUnited States of America
Arthur Krener and Roger Brockett pioneered the feedback linearization problem for control systems, that is, the transforming of a nonlinear control system into linear dynamics via change of coordinates and feedback. While the former gave necessary and sufficient conditions to linearize a system under change of coordinates only, the latter introduced the concept of feedback and solved the problem for a particular case. Their work was soon extended in the earlier eighties by Jakubczyk and Responder, and Hunt and Su who gave the conditions for a control system to be linearizable by change of coordinates and feedback (full rank and involutivity of the associated distributions). It turned out that those conditions are very restrictive; however, it was showed later that systems that fail to be linearizable can still be transformed into two interconnected subsystems: one linear and the other nonlinear. This fact is known as partial feedback linearization. For input-output systems with well-defined relative degree, coordinates can be found by differentiating the outputs. For systems without outputs, necessary and sufficient geometric conditions for partial linearization have been obtained in terms of the Lie algebra of the system; however, both results of linearization and partial feedback linearization lack practicability. Until recently, none has provided a way to actually compute the linearizing coordinates and feedback. In this paper, we propose an algorithm allowing to find the linearizing coordinates and feedback if the system is linearizable, and in the contrary, to decompose a system (without outputs) while achieving the largest linear subsystem. Those algorithms are built upon successive applications of the Frobenius theorem. Examples are provided to illustrate.
Part of the book: Nonlinear Systems