Direct feedback linearization of nonlinear control systems and the hidden dynamics

Abstract

Based on the conception of Han Jingqing's paper Structure of Linear Control Systems and Computing Problem of Feedback Systems, the direct feedback linearization (DFL) theory for nonlinear control systems described by the input-output higher order differential equations was well developed in this paper. The solvability condition of the DFL problem and the structure of the DFL-compensator were given. The concept of hidden dynamics (HD) was proposed for the first time, and it was proved that the HD is equivalent to the zero dynamics (ZD) of the differential geometric theory of nonlinear control. Especially this method is a better one for engineering applications, because the mathematical instruments are simple and the physical information of the system can also be preserved.