Input-state Linearization of Mechanical System

Tomáš Lipták^1, , Michal Kelemen¹, Alexander Gmiterko¹, Ivan Virgala¹ and Darina Hroncová¹

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

Cite this paper:
Tomáš Lipták, Michal Kelemen, Alexander Gmiterko, Ivan Virgala and 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

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.

Keywords:
input-state linearization state space vector field Lie bracket mechanical system with one degree of freedom one-link manipulator

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