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Title
Japanese: 
English:Exact Linearization of Two-Input Affine Systems via the Dynamic Extension Based on the Relative Degree Structure 
Author
Japanese: 関口 和真, 三平 満司, 中浦 茂樹.  
English: K. Sekiguchi, M. Sampei, S. Nakaura.  
Language English 
Journal/Book name
Japanese: 
English:SICE Journal of Control, Measurement, and System Integration 
Volume, Number, Page Vol. 4    No. 2    pp. 153-162
Published date Mar. 31, 2011 
Publisher
Japanese: 
English:The Society of Instrument and Control Engineers (SICE) 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
Abstract This paper discusses the exact linearization problem of two-input affine systems via the dynamic extension based on the ralative degree structure. A necessary and sufficient condition for two-input systems to be exactly linearizable via 1-degree dynamic extension is derived, and the input transformations of two-input systems with dynamic extension are classified into two forms. Finally, a method to derive the input transformation such that the transformed system is exactly linearizable via the dynamic extension is proposed. The proposed method is applied to a mechanical system.

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