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L. Guzzella and A. Isidori, “On approximate linearization of nonlinear control systems,” International Journal of Robust & Nonlinear Control, vol. 3, no. 3, pp. 261-276, 1993.

has been cited by the following article:

Article

Input-state Linearization of Mechanical System

1Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia


American Journal of Mechanical Engineering. 2017, Vol. 5 No. 6, 298-302
DOI: 10.12691/ajme-5-6-13
Copyright © 2017 Science and Education Publishing

Cite this paper:
Tomáš Lipták, Michal Kelemen, Alexander Gmiterko, Ivan Virgala, Darina Hroncová. Input-state Linearization of Mechanical System. American Journal of Mechanical Engineering. 2017; 5(6):298-302. doi: 10.12691/ajme-5-6-13.

Correspondence to: Tomáš  Lipták, Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia. Email: tomas.liptak@tuke.sk

Abstract

The article deals with the issue of input-state linearization of the mechanical systems. The introductory part of article contains theory about exact linearization that we used. Further we explained the basic principle and procedure of input-state linearization. Then it contains the determination of state space for mechanical systems, the computing of vector fields, the investigation of controllability and involutivity of the systems and the calculation of input and state transformation.

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