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Title
Japanese:相対次数構造に基づくシステムの系列表現を用いた近似線形化 
English:Linear Approximation via Series Expression based on Relative Degree Structure 
Author
Japanese: 関口和真, 三平満司.  
English: Kazuma Sekiguchi, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese:計測自動制御学会 第10回制御部門大会 論文集 
English: 
Volume, Number, Page         pp. 72-1-1
Published date Mar. 2010 
Publisher
Japanese:計測自動制御学会 
English:The Society of Instrument and Control Engineers 
Conference name
Japanese:第10回計測自動制御学会制御部門大会 
English: 
Conference site
Japanese:熊本 
English: 
Abstract Linear approximation is the first term of Taylor expansion in the neighbor of the considered equilibrium, and this method does not mention the higher order term. Applying the nonlinear transformations of input and coordinate, the accuracy of the approximation increases or decreases. In this paper, the nonlinear transformations are designed in order to increase accuracy of the approximation. The first step involves defining the series of expression of the system via the relative degree structure of the system. The series expression makes the inherent linearity of the system explicit. In the second step, the series expression is modified to reduce the affection of nonlinear part ignored in the linear approximation. The procedure is demonstrated for the problem of stabilization of an inverted pendulum on a cart.

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