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In this work we consider a class of nonlinear flat systems evolving on the tangent bundle TG of a Lie-Group G. For this class of systems every set of local coordinate functions is a local flat output. As a consequence, the canonical projection of TG on G acts as a global flat output, called flat information. It is shown that a stabilization control law for such a system induces canonically a control...
The application of inversion theory to nonlinear singular systems is an important problem. The output tracking for affine nonlinear singular systems, especially for non-minimum phase systems, using stable inverse method is discussed in this paper. This method not only get the stable output tracking asymptotically, but also eliminate the transient error, thus achieve the salient advantages of both...
Aiming at a class of higher order, strong coupling, uncertainty nonlinear systems such as ball and plate system, a cascade control strategy with low order active disturbance rejection control (ADRC) is proposed when the nonlinear system is converted into cascade system of several low order nonlinear systems. The difficulty of parameter setting with higher order ADRC is resolved through this strategy...
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