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Applications and Extensions of Goursat Normal Form to Control of Nonlinear Systems
Abstract The Goursat normal form theorem gives cond
The Goursat normal form theorem gives conditions under which an Pfaffian exterior differential system is equivalent to a certain normal form. This paper details how the Goursat normal form and its extensions provide a unified framework for understanding feedback linearization, chained form, and differential flatness. <p> Keywords: Exterior differential systems, nonholonomic constraints, chained form, feedback linearization, differentially flat.
edback linearization, differentially flat.  +
Authors Richard M. Murray  +
Flags NoRequest  +
ID 1993e  +
Source Proceedings of the 32nd Conference on Decision and Control<br />December 1993  +
Tag mur93-cdc  +
Title Applications and Extensions of Goursat Normal Form to Control of Nonlinear Systems +
Type Conference paper  +
Categories Papers
Modification date
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15 May 2016 06:20:56  +
URL
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http://www.cds.caltech.edu/~murray/preprints/mur93-cdc.pdf  +
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