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

Zuyev, A. L.

Tr. Inst. Prikl. Mat. Mekh. 13, 97-102 (2006).

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.

Reviewer: Vladimir Fedorovich Shcherbak (Donetsk)

MSC:

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

Keywords:

linearization; feedback; flat system; nonlinear control