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

Conference paper
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Part of the Advances in Intelligent Systems and Computing book series (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.

Keywords

Mechanical systems Feedback linearization Classification Normal forms 

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Laboratoire de MathématiquesNormandie Université, INSA de RouenSaint-Etienne-du-RouvrayFrance
  2. 2.Institute of Automatic Control and RoboticsPoznan University of TechnologyPoznańPoland

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