Feedback linearization technique in variable inertia systems

摘要

A formula of variable inertia systems, which contain controllable inertia, is introduced, and a feedback linearization technique for the variable inertia systems is proposed. This linearization technique allows us to control the variable inertia system through linear control methods without linear control inputs. The formula of variable inertia systems consists of two subsystems related to rotation and variable inertia. The rotational subsystem contains an ordinary differential equation, and the subsystem of variable inertia is independent from the alternative subsystem.