Exact Linearization of Two-Input Affine Systems via the Dynamic Extension Based on the Relative Degree Structure

摘要

This paper discusses the exact linearization problem of two-input affine systems via the dynamic extension based on the relative degree structure. A necessary and sufficient condition for two-input systems to be exactly linearizable via 1-degree dynamic extension is derived, and the input transformations of two-input systems with dynamic extension are classified into two forms. Finally, a method to derive the input transformation such that the transformed system is exactly linearizable via the dynamic extension is proposed. The proposed method is applied to a mechanical system.