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タイトル
和文:一次安定なゼロダイナミクスの設計 
英文: 
著者
和文: 関口和真, 三平満司.  
英文: Kazuma Sekiguchi, MITSUJI SAMPEI.  
言語 Japanese 
掲載誌/書名
和文:第39回制御理論シンポジウム論文集 
英文: 
巻, 号, ページ         pp. 305-308
出版年月 2010年9月 
出版者
和文: 
英文: 
会議名称
和文:第39回制御理論シンポジウム 
英文: 
開催地
和文:大阪、日本 
英文: 
アブストラクト In this paper, the change of the relative degree structure at the controllable equilibrium is discussed. In the neighborhood of the controllable equilibrium, all nonlinear systems are approximated to linear controllable system. The gap between the original nonlinear sysytem and approximate linear system appears as a change of the relative degree structure. By comparison of these two structure, the necessary condition for the input-output linearization method to have no singular point at the equilibrium is derived. Based on this fact, the selection of the output function is proposed. Moreover the output design method for linear stable zero dynamics is proposed.

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