Global normal forms for MIMO nonlinear systems, with applications to stabilization and disturbance attenuation

被引：44

作者：

Schwartz, B ^{[1
]}

Isidori, A

Tarn, TJ

机构：

[1] Washington Univ, Dept Syst Sci & Math, St Louis, MO 63130 USA

[2] Univ Roma La Sapienza, Dipartimento Informat & Sistemist, I-00184 Rome, Italy

来源：

MATHEMATICS OF CONTROL SIGNALS AND SYSTEMS | 1999年 / 12卷 / 02期

关键词：

MIMO nonlinear systems; global normal forms; backstepping method; global stabilization; disturbance attenuation;

D O I：

10.1007/PL00009847

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A geometric characterization of a class of square invertible nonlinear systems that can be molded into a normal form by a global diffeomorphism is detailed. Then additional conditions are fashioned that permit the implementation of the recursive design method known as "backstepping."

引用

页码：121 / 142

页数：22