Mechanical feedback linearization of single-input mechanical control systems

Marcin Nowicki; Witold Respondek

doi:10.1109/TAC.2023.3259004

paper

Mechanical feedback linearization of single-input mechanical control systems

arXiv:2301.00087 · doi:10.1109/TAC.2023.3259004

Abstract

We present a new type of feedback linearization that is tailored for mechanical control systems. We call it a mechanical feedback linearization. Its basic feature is preservation of the mechanical structure of the system. For mechanical systems with a scalar control, we formulate necessary and sufficient conditions that are verifiable using differentiations and algebraic operations only. We illustrate our results with several examples.