多输入非线性控制系统的可控标准型

CONTROLLABILITY CANONICAL FORM FOR MULTI-INPUT NONLINEAR CONTROL SYSTEMS

本文用代数方法进一步研究了多输入非线性控制系统的可控标准型问题。补充证明了李文林文章结论,并获得一些新结果。

The result about controllability canonical form for multi-input nonlinear control systems by the algebraic method established is refined in this paper. This problem was studied in many papers mainly by differential geometric method which is not easy to possess and apply for engineers. Two complete sets of sufficient conditions for existence of state transformation which converts the nonlinear control system to the controllability canonical form are given . Then ,a procedure for the calculation of the controllability indices is established. After this, a special case which is called uniform controllability canonical form is considered. Furthermore, the uniqueness of the canonical form in the framework of a given procedure for constructing the state transformation is discussed.