Mechanical feedback linearization of single-input mechanical control systems
Optimization and Control
2024-03-22 v1 Systems and Control
Systems and Control
Abstract
We present a new type of feedback linearization that is tailored for mechanical control systems. We call it a mechanical feedback linearization. Its basic feature is preservation of the mechanical structure of the system. For mechanical systems with a scalar control, we formulate necessary and sufficient conditions that are verifiable using differentiations and algebraic operations only. We illustrate our results with several examples.
Cite
@article{arxiv.2301.00087,
title = {Mechanical feedback linearization of single-input mechanical control systems},
author = {Marcin Nowicki and Witold Respondek},
journal= {arXiv preprint arXiv:2301.00087},
year = {2024}
}