Decoupling And Exact Linearization Of Nonlinear Control Systems

Modern nonlinear control system theory is extension linear system theory. With the developing of computer science technology, its application would become more extensive in the kinds of practical object.From 1970, with the development of modeling and simulation , people discover that many systems are modeled by nonlinear systems, even nonlinear singular systems, for instance, economic systems, chemical systems, electronic network systems, physical systems and so on .Especially constrained robot systems take the typical form of nonlinear singular systems and will play an important role in social developing process. It is of practical important to study nonlinear singular systems.Decoupling and linearization problem is a classical problem. Decoupling design idea of multivariable systems was founded in the early stage of development of control theory. The aim of decoupling is either to eliminate the effect of disturbance or to change a complex system into a set of simple system, so that control strategy can be carried out easily. Decoupling and linearization problem is one of the typical design problem, so it is of theoretical importance. Input-output decoupling, disturbance decoupling and exact linearization problem of affine nonlinear systems are discussed in the thesis. The organization of the thesis is as follow:In the first chapter, the bases conception of the nonlinear control system and singular system are started first. We introduce the background and importance of study on nonlinear systems with the several practical example, and detailed summarize the researching method of decoupling nonlinear systems, especially the modern differential geometry method and differential algebra method. And then introduce some basic defines and signals. Lastly we talk about the problem which is discussed in the thesis.In the second chapter, we would study the sufficient and necessary conditions of decoupling and linearization of multivariable nonlinear systems by using the transformation of diagonal state feedback. Firstly we introduce the define of input-output...