具有干扰非线性系统精确线性化

Exact Linearization of Nonlinear Systems with Disturbances

非线性系统反馈线性化问题研究已取得很多成果，但对具有干扰非线性系统反馈线性化问题涉及不多．重点研究具有干扰非线性系统线性化问题．基于等价概念，研究将具有输入干扰的非线性系统变换为与其等价的伪线性系统（QuasiLinearSystem）这一等价变换包括：i．状态空间坐标变换；ii．输入空间的坐标变换，它由干扰的非线性前馈（FF）和状态反馈（FB）变换组成，称为输入-状态FF/FB变换．给出了具有干扰非线性系统线性化的条件和具体的等价变换算法，并用实例证明了算法的有效性．

Despite the significant progrss and the growing interest in the area of the feedback linearization, there are only few techniques addressing the linearization of nonlinear systems with dishaes. The exact linearizatiaon of nonlinear systems with disturbances is investigated. Based on the notion of equivalence, the problem of transforming nonlinear systems with disturbanes to their quasilinear systems(QLS) is developed. The transformations which con-sists of 1. state space coordinates changs and 2. control input space coordinate changes by noulinear feedforward of the disturbanes and feedback of the states are presented. These transformations will be called FF/FD transforma-tions .The conditions for linearization and algorithms are also given. The example show that the algorithm is effec-tive.