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A Classification of Feedback Linearizable Mechanical Systems with 2 Degrees of Freedom

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Advanced, Contemporary Control

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1196))

Abstract

A classification of feedback linearizable mechanical control system with 2 DOF is proposed. We develop 3 types of linearization and for each we establish a normal form. Then, we characterize each class and calculate linearizing outputs. As a consequence, necessary and sufficient linearizability conditions are formulated for all cases. We illustrate our result by mechanical linearization of the TORA system.

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Author information

Authors and Affiliations

  1. Laboratoire de Mathématiques, Normandie Université, INSA de Rouen, 76801, Saint-Etienne-du-Rouvray, France

    Marcin Nowicki & Witold Respondek

  2. Institute of Automatic Control and Robotics, Poznan University of Technology, Piotrowo 3a, 61-138, Poznań, Poland

    Marcin Nowicki

Authors
  1. Marcin Nowicki
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  2. Witold Respondek
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Corresponding author

Correspondence to Marcin Nowicki .

Editor information

Editors and Affiliations

  1. Institute of Automatic Control, Lodz University of Technology, Lodz, Poland

    Andrzej Bartoszewicz

  2. Institute of Automatic Control, Lodz University of Technology, Lodz, Poland

    Jacek Kabziński

  3. Systems Research Institute, Polish Academy of Sciences, Warsaw, Poland

    Janusz Kacprzyk

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Nowicki, M., Respondek, W. (2020). A Classification of Feedback Linearizable Mechanical Systems with 2 Degrees of Freedom. In: Bartoszewicz, A., Kabziński, J., Kacprzyk, J. (eds) Advanced, Contemporary Control. Advances in Intelligent Systems and Computing, vol 1196. Springer, Cham. https://doi.org/10.1007/978-3-030-50936-1_54

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