Pseudolinearization Using Spline Functions With Application to the Acrobot

A method for the construction of the pseudolinearizing controller and extended linearizing observer for single-input, multi-output nonlinear systems is presented. The technique uses spline functions to approximate the elements of gradient vectors which arise during the derivation of the pseudolinearizing controller and extended linearizing observer. The construction of both is computer automated and can be accomplished regardless of the complexity of the original nonlinear model. Further, the structure of the controller and observer makes their implementation computationally efficient.

Name thesis:degree_name

Ph.D.

Level thesis:degree_level

Dissertation

Discipline thesis:degree_discipline

Electrical Engineering

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2014

Author dc:creator

• Bortoff, Scott A.

Contributors dc:contributor

• Spong, Mark W.

• Engineering, Electronics and Electrical

Identifier

(UMI)AAI9305473

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/71976