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Controller design for nonlinear multi-input - multi-output systems based on an algorithmic plant description

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Complicated multi-domain systems are usually described in terms of modelling languages. These models are mainly used for simulation. We discuss the usage of an algorithmic plant description for nonlinear controller design based on differential geometric concepts. The design procedures themselves are often formulated in terms of Lie derivatives. These derivatives are typically computed symbolically. The symbolic manipulations require an explicit description of the plant by formulae and expressions. Moreover, the symbolic computations can be very time consuming for complex and large-scale systems. These problems can be circumvented by automatic differentiation. This paper is concerned with the controller design of algorithmically modelled plants utilizing automatic differentiation.

Keywords: Automatic differentiation; Feedback linearization; Nonlinear control

Document Type: Research Article

Affiliations: Institut für Regelungs- und Steuerungstheorie, Fakultät Elektrotechnik und Informationstechnik, Technische Universität Dresden, Dresden, Germany

Publication date: April 1, 2007

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