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- W4226440487 abstract "We present an extension of Willems' Fundamental Lemma to the class of multi-input multi-output discrete-time feedback linearizable nonlinear systems. We study the effect of approximating the unknown nonlinearities with a choice of basis functions that depend only on input and output data, then provide error bounds on the results of the data-based simulation and output matching control problems. Furthermore, we use this data-based approximation of the trajectories of the nonlinear system to design a multi-step robust data-based nonlinear predictive control scheme. We show that this control scheme is recursively feasible and renders the closed-loop system practically exponentially stable. Finally, we illustrate our results on a model of a fully-actuated double inverted pendulum." @default.
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- W4226440487 date "2022-04-03" @default.
- W4226440487 modified "2023-09-24" @default.
- W4226440487 title "Data-based Control of Feedback Linearizable Systems" @default.
- W4226440487 doi "https://doi.org/10.48550/arxiv.2204.01148" @default.
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