Augments nonlinear system dynamics to capture state constraints before feedback linearization, using a switching controller to handle ill-defined relative degrees at boundaries, shown via numerical experiments.
Carleman, Application de la théorie des équations int égrales linéaires aux systèmes d’équations différentielles non li néaires (1932)
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Feedback Linearisation with State Constraints
Augments nonlinear system dynamics to capture state constraints before feedback linearization, using a switching controller to handle ill-defined relative degrees at boundaries, shown via numerical experiments.