246 Chapter 5 Model-Reference Adaptive Systems By transforming back to the original coordinates the control law can be written as w= wages ~ (a1 + (Gd) (ae + Pa) #0 a ‘The closed-loop system obtained in the example will behave like a linear system. This is the reason why the method is called feedback linearization. ‘The system in Example 5.15 is quite special. Applying the same procedure for a system deseribed by % SF) + uel) we first pick £1 = AG) as a new state variable, The time derivative of & is 1 2 ateai( fla) +uatn) If A'(x)g(x) = 0, we introduce the new state variable fe = HF) We proceed as long as the control variable u does not appear explicitly on the right-hand side. In this way we obtain the state variables £)...¢,, which are combined to the vector € © R’, where r < n. We also introduce the new state variable 7),...1fn-r, which are combined into the vector 7 ¢ R*-". This can be done in many different ways, We obtain the following system of equations: ay A =e, dia ats : (5.85) Be = oE,n) + ub Em) at ve * an _ aye Notice that the state variables £ represents a chain of r integrators, where the integer r is the nonlinear equivalence of pole excess. The variables 7) will not appear ifr = n. This case corresponds to a system without zeros. This actually oceurs in Example 5.15, where r =n = 2. ‘A design procedure, which is the nonlinear analog of pole placement, can be constructed if B(é.) # 0. If this is the case, we can introduce the feedback law we gegagy Cod arabe ead aS + Ber)5.10 Nonlinrar Systems 247 ‘The closed-loop system then becomes o 4 0 1. 0 0 a) Low. _ jo : ge] ite : (5.86) a eT be an _ ys qe ‘The relation between v and £; is given by a linear dynamical system with the transfer function ‘This differential equation has a triangular structure. The part corresponding. to the state vector € is a linear aystem that is decoupled from the variable 7 If = 0, the behavior of the system (5.86) is governed by dq T= 0.1) (5.87) ‘This equation represents the zero dynamics, It is necessary for this aystem to be stable if the proposed control design is going to work. For linexr systems the zero dyweuies are the dynamics associated with the zeros of the transfer function. Feedback linearization is the nonlinear analog of pole placement with cancellation of all process zeros. Adaptive Feedback Linearization We now show how feedback linearization can be extended to deai with the situation in which the process model has unknown parameters. The approach will be similar to the idea used to derive model-reference adaptive controllers. Let us start with an example that is an adaptive version of Example 5.15. EXAMPLE 5.16 Adaptive feedback linearization Consider the system & = a2 + Oflx1) daa dt where @ is an unknown parameter and { is a known differentiable function. Applying the certainty equivalence principle gives the following control law: a w= magn — (a1 + 6F tm) (2 + Bf) (5.88)248 Chapter 3 Modei-tteference Adaptive Systems Introducing this into the system equations gives an error equation that is non- linear in the parameter error. This makes it very difficult to find a parameter adjustment law that gives a stable system. Therefore it is necessary to use another approzch. Proceeding as in Example 5.15 and introducing the new coordinates eae En = x24 OF lm} where @ is an estimate of @, we have He Bt A oy softer) = ba 4 (0 - ONE) 2B pn) + Omar of) fed +H Choosing the control law to be w= ands anda (ze + Fe) ed —flad+e 89) we got ol J+ Gorenren) ® GO) A comparison with the certainty equivalence control law given by Eq. (5.88) shows that the major difference is the presence of the term d6/dt in Eq, (6.89). In analogy with the madel-reference adaptive system, let us assume that it is desired to have a system in which the transfer function from command signal to output has the transfer function ne) < -—% OC) = Byasta Introduce the following realization of the transfer function: (2 We ()s dt ag -a)°"” las) ™ and Jet e = £ — xm, be the error vector. If we choose B= Ot (5.90) we find that the error equation becomes de (9 1 FE) je é & (CL. Ae (apgaren) Omar? (2 -.) 2 largaren] where A