Feedback linearization: Difference between revisions

Revision as of 13:41, 17 November 2014

Revision as of 03:48, 26 March 2015

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=== Unstable zero dynamics ===

Feedback linearization can be accomplished with systems that have relative degree less than <math>n</math>. However, the normal form of the system will include [[zero dynamics]] (i.e., states that are not [[observable]] from the output of the system) that may be unstable. In practice, unstable dynamics may have deleterious effects on the system (e.g., it may be dangerous for internal states of the system to grow unbounded). These unobservable states may be stablecontrollable or at least [[controllable]]stable, and so measures can be taken to ensure these states do not cause problems in practice.

== See also ==