Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
10330395 | Future Generation Computer Systems | 2005 | 8 Pages |
Abstract
Various modern algorithms for controller design are based on differential-geometric concepts. A method of particular importance is called exact linearization via feedback. In this case, the implementation of the controller requires the computation of Lie derivatives, which have been computed symbolically. This can be very time consuming. We present a new computation method relying on automatic differentiation.
Related Topics
Physical Sciences and Engineering
Computer Science
Computational Theory and Mathematics
Authors
Klaus Röbenack,