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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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Applications and Extensions of Goursat Normal Form to Control of Nonlinear Systems + Title
 

 

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