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2021 | OriginalPaper | Chapter

8. Feedback Linearization

Author : Karl Dietrich von Ellenrieder

Published in: Control of Marine Vehicles

Publisher: Springer International Publishing

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Abstract

Several feedback linearization methods are presented, including the use of inverse dynamics, coordinate transformations, input-state linearization and input-output linearization. Several important related concepts are discussed, such as the basic features the structure of a dynamic system must possess in order for it to be feedback-linearizeable, the relative degree of a system and the stability of the zero dynamics of a system.

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previous chapter Nonlinear Stability for Marine Vehicles
next chapter Control of Underactuated Marine Vehicles
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Metadata
Title
Feedback Linearization
Author
Karl Dietrich von Ellenrieder
Copyright Year
2021
Book
Control of Marine Vehicles

Print ISBN: 978-3-030-75020-6

Electronic ISBN: 978-3-030-75021-3

Copyright Year: 2021

DOI
https://doi.org/10.1007/978-3-030-75021-3_8

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