This letter is devoted to derivation of a transformation law which converts a class of nonlinear affine control systems with n-states and 2-iputs into simpler systems with chained structure. First, we give a problem formulation that we consider throughout this letter. We next introduce a transformation law and gives its mathematical certification. Then, we apply the transformation method to an example and consider control design based on chained structure for the example in order to confirm the effectiveness of our approach.
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机译:这封信致力于推导变换定律,该定律将一类具有 n 态和 2 位的非线性仿射控制系统转换为具有链式结构的更简单系统。首先,我们给出一个问题表述,我们在整封信中都考虑过这个问题。接下来,我们介绍一个变换定律,并给出它的数学证明。然后,将变换方法应用于一个示例,并考虑基于链式结构的控制设计,以验证该方法的有效性。
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