Lecture 2: Controllability of nonlinear systems
Lecture 2: Controllability of nonlinear systems
Lecture 2: Controllability of nonlinear systems
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DISC Systems and Control Theory <strong>of</strong> Nonlinear Systems 7Compute[Steer, Drive] = ∂g 1∂x g 2 − ∂g 2∂x g 1⎡0 0 − sin(x 3 + x 4 ) − sin(x 3 + x 4 )0 0 cos(x 3 + x 4 ) cos(x 3 + x 4 )=⎢⎣ 0 0 0 cos(x 4 )0 0 0 0⎡⎤− sin(x 3 + x 4 )cos(x 3 + x 4 )==: Wriggle.⎢⎣ cos(x 4 ) ⎥⎦0⎤⎡⎥⎢⎦⎣0001⎤⎥⎦− 0
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