Stabilizability preserving quotients and partial feedback linearization

Nonsmooth Stabilizability and Feedback Linearization of Discrete - Time Nonlinear Systems

We consider the problem of stabilizing a discrete-time nonlinear system using a feedback which is not necessarily smooth. A sufficient condition for global dynamical stabilizability of single-input triangular systems is given. We obtain conditions expressed in terms of distributions for the nonsmooth feedback triangularization and linearization of discrete-time systems. Relations between stabil...

Partial feedback linearization of underactuated mechanical systems

Stabilizability by state feedback implies stabilizability by encoded state feedback

Encoded state feedback is a term which refers to the situation in which the state feedback signal is sampled every T units of time and converted (encoded) into a binary representation. In this note stabilization of nonlinear systems by encoded state feedback is studied. It is shown that any nonlinear control system which can be globally asymptotically stabilized by “standard” (i.e. with no enco...

Feedback and positive feedback stabilizability and holdability

Consider the following problem. Given a discrete-time linear system, find, if possible, linear state-feedback control laws such that under these laws all trajectories originating in the non-negative orthant of the state space remain non-negative while asymptotically deteriorating to the origin. This problem is called feedback stabilizability-holdability problem (FSH). If, in addition, the requi...

Fuzzy Partial Feedback Linearization for Stable Walking of Biped Robots

ontrol of underactuated biped robots is one of the challenging problems in the robotics field. The main difficulties of this problem that make it hard to control are its highly nonlinear dynamics, open-loop instability and impact event at the end of each step. Partial feedback linearization is a method to control underactuated systems but it is not robust against uncertainties and disturbances....