非线性控制系统的可控标准型问题

CONTROLLABILITY CANONICAL FORM FOR NONLINEAR CONTROL SYSTEMS

本文考虑了一般非线性控制系统的可控标准型问题,给出了化可控标准型的条件,并用代数方法给出了状态变换的算法,这种方法比用微分几何方法简便、实用。

General nonlinear control systems are studied in this paper with the goal to transform it into the so-called controllability canonical form via state transformation only. The conditions of tra-nsformability are given for both single input and multiple input cases. Besides., by algebraic approach the procedure for constructing the state transformation is established. This paper is formulated in the framework of calculus rather than differential geometry approach.