Authors:
M. Mabrouk
and
J. C. Vivalda
Affiliation:
Inria-Lorraine, projet CONGE, ISGMP, France
Keyword(s):
Euler-Lagrange systems, state transformation, affine forms.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Nonlinear Signals and Systems
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
Abstract:
The transformation of an Euler-Lagrange system into a state affine system in order to solve some interesting problem as the design of observer, the output tracking control, is considered in this paper. A necessary and a sufficient condition is given as well as a method to compute this transformation.