时变仿射非线性系统的动态补偿线性化

用微分几何方法讨论了时变仿射非线性系统的动态补偿线性化问题，给出了系统动态的反馈线性化的条件，它是状态反馈线性化的推广。     

Criteria for fourth-order ordinary differential equations to be linearizable by contact transformations

Solution of linearization problem of fourth-order ordinary differential equations via contact transformations is presented in the paper. We show that all fourth-order ordinary differential equations that are linearizable by contact transformations are contained in the class of equations which is at most quadratic in the third-order derivative. We provide the linearization test and describe the procedure for obtaining the linearizing transformations as well as the linearized equation. Moreover, we obtain the general form of ordinary differential equations of order greater than four linearizable via contact transformations.     

Linearization of third-order ordinary differential equations by point and contact transformations

We present here the solution of the problem on linearization of third-order ordinary differential equations by means of point and contact transformations. We provide, in explicit forms, the necessary and sufficient conditions for linearization, the equations for determining the linearizing point and contact transformations as well as the coefficients of the resulting linear equations.     

New Approach to Linear Exact Model Matching for a Class of Nonlinear Systems

In this paper, a new approach to the linear exact model matching problem for a class of nonlinear systems, using static state feedback, is presented. This approach reduces the problem of determining the state feedback control law to that of solving a system of first-order partial differential equations. Based on these equations, two major issues are resolved: the necessary and sufficient conditions for the problem to have a solution and the general analytical expression for the feedback control law. Furthermore, the proposed approach is extended to solve the same problem via static output feedback.     

Reduction of fourth order ordinary differential equations to second and third order Lie linearizable forms

Meleshko presented a new method for reducing third order autonomous ordinary differential equations (ODEs) to Lie linearizable second order ODEs. We extended his work by reducing fourth order autonomous ODEs to second and third order linearizable ODEs and then applying the Ibragimov and Meleshko linearization test for the obtained ODEs. The application of the algorithm to several ODEs is also presented.     

Chaos control in lateral oscillations of spinning disks via nonlinear feedback

In this paper the problem of chaos control in single mode lateral oscillations of spinning disks is studied. At first, using the harmonic balance method, one of the periodic orbits of system is evaluated. Then proposing a nonlinear feedback strategy a control law is presented for chaos elimination by tracking the mentioned periodic solution. It is shown that although the system is not input-state feedback linearizable, by defining an output signal and using the input–output linearization method, the objective of complete periodic orbit tracking is achieved. The sufficient condition for this purpose is presented, and the performance of proposed method is examined by numerical simulation.     

Input-output linearization with simultaneous decoupling by restricted state feedback

The problem of input-output linearization with simultaneousdecoupling via restricted state feedback for nonsquare nonlinearsystems is investigated in this paper. The problem is treatedon the basis of a new algebraic approach whose main featureis that it reduces the determination of the admissible state-feedbackcontrol laws to the solution of an algebraic and a first-orderpartial differential system of equations. Verifiable necessaryand sufficient conditions of an algebraic nature are establishedfor the solvability of the aforementioned problem, which relyon the solvability of these systems of equations. Moreover,an explicit expression for a special admissible restricted state-feedbackcontroller is analytically derived.     

Smooth control systems of constant rank and linearizable systems

An exposition of the results of the author and A. A. Agrachev concerning systems of constant rank and bang-bang theorems for these systems. The author also presents a survey of results on the linearization of smooth systems and points out the relationship between systems which are linearizable by smooth feedback and systems of constant rank.Translated from Itogi Nauki i Tekhniki, Seriya Sovremennye Problemy Matematiki, Noveishie Dostizheniya, Vol. 35, pp. 135–178, 1989.     

Static output feedback and guaranteed cost control of a class of discrete-time nonlinear systems with partial state measurements

In this paper both the static output feedback issue and the observer-based control of a class of discrete-time nonlinear systems are considered. Thanks to a newly developed linearization lemma, it is shown that the solution of the discrete-time output feedback problem is conditioned by a set of simple convex optimization conditions that are numerically tractable and free from any equality constraint. An illustrative example is provided to show the usefulness of the proposed control designs.     

Lie point symmetries, partial Noether operators and first integrals of the Painlevé-Gambier equations

We utilize the Lie-Tressé linearization method to obtain linearizing point transformations of certain autonomous nonlinear second-order ordinary differential equations contained in the Painlevé-Gambier classification. These point transformations are constructed using the Lie point symmetry generators admitted by the underlying Painlevé-Gambier equations. It is also shown that those Painlevé-Gambier equations which have a few Lie point symmetries and hence are not linearizable by this method can be integrated by a quadrature. Moreover, by making use of the partial Lagrangian approach we obtain time dependent and time independent first integrals for these Painlevé-Gambier equations which have not been reported in the earlier literature. A comparison of the results obtained in this paper is made with the ones obtained using the generalized Sundman linearization method.     

On the Blaschke conjecture for 3-webs

We find relative differential invariants of orders eight and nine for a planar nonparallelizable 3-web such that their vanishing is necessary and sufficient for a 3-web to be linearizable. This resolves the Blaschke conjecture for 3-webs. We also give the algorithm for determining whether a given 3-web is linearizable, find the linearity condition for 3-webs and establish its relationships to the condition that a plane curve consists of flexes and to the Euler equation in gas-dynamics.     

Integrability and linearizability of the Lotka-Volterra systems

Integrability and linearizability of the Lotka-Volterra systems are studied. We prove sufficient conditions for integrable but not linearizable systems for any rational resonance ratio. We give new sufficient conditions for linearizable Lotka-Volterra systems. Sufficient conditions for integrable Lotka-Volterra systems with 3:−q resonance are given. In the particular cases of 3:−5 and 3:−4 resonances, necessary and sufficient conditions for integrable systems are given.     

Linearizability of Poisson structures around singular symplectic leaves

The linearization problem for a Poisson structure near a singular symplectic leaf of nonzero dimension is studied. We obtain the following generalization of the Conn linearization theorem: if the transverse Lie algebra of the leaf is semisimple and compact, then the Poisson structure is linearizable, provided that certain cohomological obstructions vanish.     

On the Gronwall Conjecture

The Gronwall conjecture states that a planar 3-web which admits more than one distinct linearization is locally equivalent to an algebraic web. We give a partial answer to the conjecture in the affirmative for the class of planar 3-webs with web curvature that vanishes to order three at a point. The differential relation on the third-order jet of web curvature provides an explicit criterion for unique linearization.     

Classification of discrete equations linearizable by point transformation on a square lattice

We provide a complete set of linearizability conditions for nonlinear partial difference equations defined on four points and, using them, we classify all linearizable multilinear partial difference equations defined on four points up to a Möbious transformation.     

Optimization of a Class of Nonlinear Dynamic Systems: New Efficient Method without Lagrange Multipliers

This paper deals with optimization of a class of nonlinear dynamic systems with n states and m control inputs commanded to move between two fixed states in a prescribed time. Using conventional procedures with Lagrange multipliers, it is well known that the optimal trajectory is the solution of a two-point boundary-value problem. In this paper, a new procedure for dynamic optimization is presented which relies on tools of feedback linearization to transform nonlinear dynamic systems into linear systems. In this new form, the states and controls can be written as higher derivatives of a subset of the states. Using this new form, it is possible to change constrained dynamic optimization problems into unconstrained problems. The necessary conditions for optimality are then solved efficiently using weighted residual methods.     

Nonlinear feedback control and systems of partial differential equations

Finding an equivalence between two feedback control systems is treated as a problem in the theory of partial differential equation systems. The mathematical aim is to embed the Jakubzyk-Respondek, Hunt-Meyer-Su work on feedback linearization in the general theory of differential systems due to Lie, Cartan, Vessiot, Spencer, and Goldschmidt. We do this by using the functor taking control systems into differential systems, and studying the equivalence invariants of such differential systems. After discussing the general case, attention is focussed on the special situation of most immediate practical importance, the theory of feedback linearization. In this case, the general system for feedback equivalence becomes a system of linear partial differential equations. Conditions are found that the general solution of this system may be described in terms of a Frobenius system and certain differential-algebraic operations.This work was supported by grant from the Ames Research Center of NASA and the Applied Mathematics Program of the National Science Foundation.     

Linearizability of the polynomial differential systems with a resonant singular point

Integrability and linearizability of polynomial differential systems are studied. The computation of generalized period constants is a way to find necessary conditions for linearizable systems for any rational resonance ratio. A method to compute generalized period constants is given. The algorithm is recursive and easy to realize with computer algebraic system. As the application, we discuss linearizable conditions for several Lotka-Volterra systems, and where this is the first time that the linearizability is considered for 3:−4 and 3:−5 resonances.     

Linear dynamics hidden by input-output linearization for nonlinear time-varying systems

The input-output linearizations is a useful method in analysisand design for the non-linear time-varying systems. However,this technique often hides some linearizable dynamics in thenonlinear time-varying subsystem. Sufficient conditions forthe non-linear time-varying systems to contain a -dimensionallinear systems are derived. This method has dimension greaterthan the usual input-output linearization.     

Invariants for feedback equivalence and Cauchy characteristic multifoliations of nonlinear control systems

Linearization of a nonlinear feedback control system under nonlinear feedback is treated as a problem of equivalence-under the Lie pseudogroup of feedback transformations-of distributions on the product manifold of the state and control variables. The new feature of this paper is that it introduces the Cauchy characteristic sub-distributions of these distributions and their derived distributions. These Cauchy characteristic distributions are involutive and nested, hence define a Multifoliate Structure. A necessary condition for feedback equivalence of two nonlinear control systems is that these multifoliations be transformed under the feedback pseudogroup. For linear systems, this Cauchy characteristic multifoliate structuee is readily computed in terms of the (A, B)-matrix that defines the linear system. Assuming that the conditions for local feedback linearization are satisfied, the existence of a global feedback linearizing transformation is dependent on computing an element of the first cohomology group of the space with coefficients in the sheaf of groupoid of infinitesimal feedback automorphisms of the linear system. The theorem quoted above about the Cauchy characteristic multifoliations provides some information about this groupoid. It is computed explicitly and directly for control systems with one- or two-state dimensions. Finally, these Cauchy characteristic sub-distributions must inevitably play a role in the numerical or symbolic computational analysis of the Hunt-Su partial differential equations for the feedback-linearizing transformation.Senior Research Associate of the National Research Council at the Ames Research Center of NASA.