Gradient realization of nonlinear control systems

J. Cortés, A.J. van der Schaft, P.E. Crouch

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    3 Citations (Scopus)
    59 Downloads (Pure)

    Abstract

    We investigate necessary and su?cient conditions under which a nonlinear afine control system with outputs can be written as a gradient control system corresponding to some pseudo-Riemannian metric defined on the state space. The results rely on a suitable notion of compatibility of the system with respect to a given afine connection, and on the input-output behavior of the prolonged system and the gradient extension. The symmetric product associated with an afine connection plays a key role in the discussion
    Original languageEnglish
    Title of host publicationLagrangian and Hamiltonian methods for nonlinear control
    Subtitle of host publication2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control
    EditorsAlessandro Astolfi, Francisco Gordillo, Arjan van der Schaft
    Place of PublicationOxford
    PublisherPergamon Press
    Pages73-78
    Number of pages6
    ISBN (Print)978-0-08-044278-5
    DOIs
    Publication statusPublished - 2003
    Event2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNLC 2003 - Sevilla, Spain
    Duration: 3 Apr 20035 Apr 2003
    Conference number: 2

    Publication series

    NameIFAC Proceedings Volumes
    PublisherPergamon Press
    ISSN (Print)1474-6670

    Conference

    Conference2nd IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control, LHMNLC 2003
    Abbreviated titleLHMNLC
    CountrySpain
    CitySevilla
    Period3/04/035/04/03

    Keywords

    • Gradient control systems
    • Symmetric product
    • prolongation and gradient extension

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