Feedback linearization of nonlinear differential-algebraic control systems

Abstract

In this paper, we study feedback linearization problems for nonlinear differential-algebraic control systems (DACSs). We consider two kinds of feedback equivalences, namely, the external feedback equivalence, which is defined (locally) on the whole generalized state space, and the internal feedback equivalence, which is defined on the locally maximal controlled invariant submanifold (i.e., on the set where solutions exist). Necessary and sufficient conditions are given for the locally internal and the locally external feedback linearizability of DACSs with the help of a notion called the explicitation with driving variables, which attaches a class of ordinary differential equation control systems (ODECSs) to a given DACS. We show that the feedback linearizability of a DACS is closely related to the involutivity of the linearizability distributions of the explicitation systems. Finally, we apply our results of feedback linearization of DACSs to an academical example and a constrained mechanical system.