From Nonlinear to Hamiltonian via Feedback
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Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
General Robotics, Automation, Sensing and Perception Laboratory
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GRASP
Hamiltonian systems
nonlinear systems
feedback transformation
Hamiltonian systems
nonlinear systems
feedback transformation
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Tabuada, Paulo
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Mechanical control systems are an especially interesting and important class of nonlinear control systems. They possess a rich mathematical structure and yet, physical considerations reveal extremely important for the solution of a large class of control problems. In this note, we broaden the applicability of design methodologies developed for mechanical control systems by rendering nonlinear control systems, mechanical by a proper choice of feedback. In particular, we characterize which control systems can be transformed to Hamiltonian control systems by a feedback transformation.
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2003-08-01
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Copyright 2003 IEEE. Reprinted from IEEE Transactions on Automatic Control, Volume 48, Issue 8, August 2003, pages 1439-1442. Publisher URL: http://ieeexplore.ieee.org/xpl/tocresult.jsp?isNumber=27430&page=1 This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.