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A New Algorithm to Compute Inverse Dynamic of a Class of Nonlinear Systems

Driss Boutat 1 Jean-Pierre Barbot 2, 3 Mohamed Darouach 4
1 PRISME - Laboratoire Pluridisciplinaire de Recherche en Ingénierie des Systèmes, Mécanique et Energétique
2 NON-A - Non-Asymptotic estimation for online systems
Inria Lille - Nord Europe, CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189
3 ECS-Lab - Électronique et Commande des Systèmes Laboratoire
4 CRAN - Centre de Recherche en Automatique de Nancy
Abstract : This paper supplies a new algorithm to compute the internal dynamics (or inversion dynamics) of affine MIMO control nonlinear systems. This algorithm con- sider both cases regular or singular characteristic ma- trix. Furthermore, it provides an extension to a class of nonlinear descriptor systems.
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https://hal.inria.fr/hal-00923663
Contributor : Jean-Pierre Barbot <>
Submitted on : Friday, January 3, 2014 - 5:57:40 PM
Last modification on : Wednesday, October 14, 2020 - 3:40:54 AM
Long-term archiving on: : Saturday, April 8, 2017 - 10:48:13 AM

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  • HAL Id : hal-00923663, version 1

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CNRS | UNIV-ORLEANS | INSMI | MSL | INRIA | CRAN | MSL-THESE | UNIV-LORRAINE | TDS-MACS | CRISTAL | UNIV-LILLE | PRISME-CVL

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Driss Boutat, Jean-Pierre Barbot, Mohamed Darouach. A New Algorithm to Compute Inverse Dynamic of a Class of Nonlinear Systems. 52nd IEEE Conference on Decision and Control, Dec 2013, Florence, Italy. ⟨hal-00923663⟩

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