Automatic differentiation and nonlinear controller design by exact linearization

Authors:
Klaus Röbenack
Affiliations:
Technische Universität Dresden, Institut für Regelungs- und Steuerungstheorie, Mommsenstr. 13, D-01062 Dresden, Germany
Venue:
Future Generation Computer Systems
Year:
2005

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Abstract

Various modern algorithms for controller design are based on differential-geometric concepts. A method of particular importance is called exact linearization via feedback. In this case, the implementation of the controller requires the computation of Lie derivatives, which have been computed symbolically. This can be very time consuming. We present a new computation method relying on automatic differentiation.