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タイトル
和文:時間関数を用いた入出力線形化に基づく制御則の切り替え設計 
英文:Controller switching based on input-output linearization via time-varying function 
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12回制御部門大会論文集 
英文: 
巻, 号, ページ         pp. P0058
出版年月 2012年3月14日 
出版者
和文:計測自動制御学会 
英文: 
会議名称
和文:第12回計測自動制御学会制御部門大会 
英文: 
開催地
和文:奈良 
英文:Nara 
アブストラクト This paper addresses controller switching problem based on input-output linearization. In input-output linearization, controller switching is achieved by switching the time invariant linearizing outputs. The feature of this paper is to focus on keeping output zero via time-varying output to utilize an advantage of input-output linearization. Time-varying process must be designed to connect two zero submanifolds with respect to time-invariant outputs smoothly so that once output zeroing is achieved, output zero is maintained during time-varying process. This paper provides the condition of time-varying output functions to keep output zero.

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