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    Ch.06 Feedback Linearization - Problem 4

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    toan
    This document discusses feedback linearization for a nonlinear control system. The system has two states x1 and x2, where x1 is to be controlled to zero. The stability of the internal dynamics depends on the initial conditions of x1 and x2, and how fast the control input u drives x1 to zero. A control law is derived that linearizes the system dynamics and allows x2 to track a desired trajectory.

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    Ch.06 Feedback Linearization - Problem 4

    Uploaded by

    toan
    6 views3 pages
    This document discusses feedback linearization for a nonlinear control system. The system has two states x1 and x2, where x1 is to be controlled to zero. The stability of the internal dynamics depends on the initial conditions of x1 and x2, and how fast the control input u drives x1 to zero. A control law is derived that linearizes the system dynamics and allows x2 to track a desired trajectory.

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    Ch.06 Feedback Linearization - Problem 4

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    This document discusses feedback linearization for a nonlinear control system. The system has two states x1 and x2, where x1 is to be controlled to zero. The stability of the internal dynamics depends on the initial conditions of x1 and x2, and how fast the control input u drives x1 to zero. A control law is derived that linearizes the system dynamics and allows x2 to track a desired trajectory.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    6 views3 pages

    Ch.06 Feedback Linearization - Problem 4

    Uploaded by

    toan
    This document discusses feedback linearization for a nonlinear control system. The system has two states x1 and x2, where x1 is to be controlled to zero. The stability of the internal dynamics depends on the initial conditions of x1 and x2, and how fast the control input u drives x1 to zero. A control law is derived that linearizes the system dynamics and allows x2 to track a desired trajectory.

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    Nonlinear Control 19 Feedback Linearization

    4. Consider the system


    𝑥ሶ1 = 𝑢 (1)
    𝑥ሶ 2 + 𝑥2 = 1 + 𝑥2 + 𝑥22 𝑥1 (2)
    where the variable 𝑥1 is to be controlled to zero. Note that the
    zero-dynamics is exponentially stable. Show that, assuming that
    𝑥2 0 = 0, the stability of the internal dynamics depends on the
    initial condition in 𝑥1 and on how fast 𝑢 drives 𝑥1 to zero. In
    particular, if these are such that 𝑥1 ≥ 𝑒1−2𝑡/𝜋 , then 𝑥2 > tan𝑡 and
    therefore tends to ∞ in finite time
    Solution
    (2) → 𝑥ሷ 2 = 1 + 2𝑥2 𝑥ሶ 2 𝑥1 + 1 + 𝑥2 + 𝑥22 𝑢 − 𝑥ሶ 2 (3)
    Choose the control law 𝑢 leads to 𝑥ሷ 2 = 𝜈 as the following
    𝑢 = (−𝑥1 𝑥ሶ 2 − 2𝑥1 𝑥2 𝑥ሶ 2 + 𝑥ሶ 2 + 𝜈)/(1 + 𝑥2 + 𝑥22 ) (4)

    HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
    Nonlinear Control 20 Feedback Linearization

    4.
    Next, choose the control law 𝜈 for tracking purpose 𝑥2 → 𝑥2𝑑
    𝜈 = 𝑥ሷ 2𝑑 − 𝑘1 𝑥ሶ 2 − 𝑥ሶ 2𝑑 − 𝑘2 (𝑥2 − 𝑥2𝑑 )
    which leads to 𝑒ሷ + 𝑘1 𝑒ሶ + 𝑘2 𝑒 = 0 with 𝑒 ≝ 𝑥2 − 𝑥2𝑑
    The internal dynamic
    𝑥ሶ1 = 𝑢
    → (1 + 𝑥2 + 𝑥22 )𝑥ሶ1 + 𝑥1 𝑥ሶ 2 + 2𝑥1 𝑥2 𝑥ሶ 2 − 𝑥ሶ 2 = 𝑥ሷ 2𝑑 − 𝑘1 𝑒ሶ − 𝑘2 𝑒
    The zero dynamic
    (1 + 𝑥2 + 𝑥22 )𝑥ሶ1 + 𝑥1 + 2𝑥1 𝑥2 − 1 𝑥ሶ 2 = 0
    → 1 + 𝑥2 + 𝑥22)𝑥1ሶ + 𝑥1 + 2𝑥1𝑥2 − 1 (1 + 𝑥2 + 𝑥22 )𝑥1 − 𝑥2 = 0
    𝑥1 + 2𝑥1𝑥2 − 1 𝑥2
    or 𝑥1ሶ + 𝑥1 + 2𝑥1𝑥2 − 1 𝑥1 =
    1 + 𝑥2 + 𝑥22

    HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien
    Nonlinear Control 21 Feedback Linearization

    4.
    𝑥1 + 2𝑥1𝑥2 − 1 𝑥2
    𝑥ሶ1 + 𝑥1 + 2𝑥1 𝑥2 − 1 𝑥1 =
    1 + 𝑥2 + 𝑥22
    𝑥2 − 𝑥1 +2𝑥1 𝑥2 −1 𝑡
    → 𝑥1(𝑡) = + 𝐶𝑒
    (1 + 𝑥2 + 𝑥22) 𝑥1 + 2𝑥1𝑥2 − 1
    The constant 𝐶 depends on the initial values of 𝑥1 and 𝑥2
    The zero-dynamics is exponentially stable → 𝑒− 𝑥1+2𝑥1𝑥2−1 𝑡 is
    stable, the stability of the internal dynamics depends on the initial
    condition in 𝑥1 and 𝑥2
    𝑢
    𝑥1 → 0, (𝑥1 + 2𝑥1𝑥2 − 1) ∈ 𝑢 → the stability of the internal dynamic
    depends on how fast 𝑢 drives 𝑥1 to zero

    𝑏 1
    𝑥ሶ + 𝑎𝑥 = 𝑏,𝑎 ≠ 0 𝑥 𝑡 = 𝑎 + 𝐶𝑒 −𝑎𝑡 , 𝑢 = 1+𝑥 2 −(𝑥1 + 2𝑥1 𝑥2 − 1)𝑥ሶ 2 + 𝜈 (4)
    2 +𝑥2

    HCM City Univ. of Technology, Faculty of Mechanical Engineering Nguyen Tan Tien

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