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Title
Japanese: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 
English:Controller switching based on input-output linearization via time-varying function 
Author
Japanese: 関口和真, 三平満司.  
English: Kazuma Sekiguchi, MITSUJI SAMPEI.  
Language Japanese 
Journal/Book name
Japanese:第１２回制御部門大会論文集 
English: 
Volume, Number, Page         pp. P0058
Published date Mar. 14, 2012 
Publisher
Japanese:計測自動制御学会 
English: 
Conference name
Japanese:第１２回計測自動制御学会制御部門大会 
English: 
Conference site
Japanese:奈良 
English:Nara 
Abstract 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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