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Stable Inversion for Nonlinear Nonminimum-Phase Time Varying SystemsIn this paper, we extend stable inversion to nonlinear time-varying systems and study computational issues; the technique is applicable to minimum-phase as well as nonminimum-phase systems. The inversion technique is new, even in the linear time-varying case, and relies on partitioning (the dichotomic split of) the linearized system dynamics into time-varying, stable, and unstable, submanifolds. This dichotomic split is used to build time-varying filters which are, in turn, the basis of a contraction used to find a bounded inverse input-state trajectory. Finding the inverse input-state trajectory allows the development or exact-output tracking controllers. The method is local to the time-varying trajectory and requires that the internal dynamics vary slowly; however, the method represents a significant advance relative to presently available tracking controllers. Present techniques are restricted to time-invariant nonlinear systems and, in the general case, track only asymptotically.
Document ID
19990021208
Acquisition Source
Ames Research Center
Document Type
Reprint (Version printed in journal)
External Source(s)
Authors
Devasia, S.
(Utah Univ. Salt Lake City, UT United States)
Paden, B.
(California Univ. Santa Barbara, CA United States)
Date Acquired
August 19, 2013
Publication Date
February 1, 1998
Publication Information
Publication: IEEE Transactions on Automatic Control
Publisher: Institute of Electrical and Electronics Engineers
Volume: 43
Issue: 2
Subject Category
Numerical Analysis
Funding Number(s)
CONTRACT_GRANT: NAG2-1042
CONTRACT_GRANT: NSF MSS-92-16690
Distribution Limits
Public
Copyright
Other

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