Feedback linearization: Difference between revisions

Revision as of 00:07, 13 March 2017

Revision as of 00:09, 13 March 2017

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=== Lie derivative ===

The goal of feedback linearization is to produce a transformed system whose states are the output <math>y</math> and its first <math>(n-1)</math> derivatives. To understand the structure of this target system, we use the [[Lie derivative]]. Consider the time derivative of (2), which we can computebe computed using the [[chain rule]],

:<math>\begin{align}