Using Computer Algebra for Design of Nonlinear Control Systems

Abstract

A rich collection of analytical tools based on differential geometric methods has been developed for the analysis and design of nonlinear control systems. The concept of feedback equivalence among nonlinear systems is used to linearize and control certain classes of nonlinear control systems. The left and right invertibility of nonlinear systems is used to solve the output tracking problem. Using computer algebra programming methods, a software system has been developed which makes these analytical procedures available to users who need not have an extensive knowledge of differential geometry. Examples of the use of this system are reported.