Output feedback pole placement for linear time-varying systems with application to the control of nonlinear systems

摘要

The output feedback pole placement problem is solved in an input-output algebraic formalism for linear time-varying (LTV) systems. The recent extensions of the notions of transfer matrices and poles of the system to the case of LTV systems are exploited here to provide constructive solutions based, as in the linear time-invariant (LTI) case, on the solutions of diophantine equations. Also, differences with the results known in the LTI case are pointed out, especially concerning the possibilities to assign specific dynamics to the closed-loop system and the conditions for tracking and disturbance rejection. This approach is applied to the control of nonlinear systems by linearization around a given trajectory. Several examples are treated in detail to show the computation and implementation issues.