Proof Existence and uniqueness of r(t, u)and A(t)follow from Theorem 3. 1. Hence, in order to prove differentiability and the formula for the derivative, it is sufficient to show that there exist a function C: R++R+ such that C(r)/r-0 as r-0 and E>0 such
12.1 Systems with controllable linearizations A relatively straightforward case of local controllability analysis is defined by systems with controllable linearizations 12.1.1 Controllability of linearized system Let To: 0, THR, uo: 0, T]H Rm be a
Using control authority to transform nonlinear models into linear ones is one of the most commonly used ideas of practical nonlinear control design. Generally, the trick helps one to recognize \simple\nonlinear feedback design tasks