On the linearization of a control system with modal coordinates. (Russian) Zbl 1137.93314

The paper deals with a complex mechanical system: a rotating rigid body with attached Euler-Bernoulli beam. The system is actuated by a control torque applied to the body. A nonlinear mathematical model is obtained within the framework of the Lagrangian formalism. For the sake of control design, the linearizability property by an appropriate feedback transformation is studied. It is pointed out that any approximate system with an arbitrary finite number of degrees of freedom is not flat.


93B10 Canonical structure
93B29 Differential-geometric methods in systems theory (MSC2000)
93B18 Linearizations
74M05 Control, switches and devices (“smart materials”) in solid mechanics