%0 Journal Article %1 10054127 %A Alsalti, Mohammad %A Lopez, Victor G. %A Berberich, Julian %A Allgöwer, Frank %A Müller, Matthias A. %D 2023 %J IEEE Transactions on Automatic Control %K #rank1 myown %N 11 %P 7014-7021 %R 10.1109/TAC.2023.3249289 %T Data-Based Control of Feedback Linearizable Systems %V 68 %X In this article, we present an extension of Willems' Fundamental Lemma to the class of multi-input–multi-output discrete-time feedback linearizable nonlinear systems, thus providing a data-based representation of their input–output trajectories. Two sources of uncertainty are considered. First, the unknown linearizing input is inexactly approximated by a set of basis functions. Second, the measured output data is contaminated by additive noise. Furthermore, we propose an approach to approximate the solution of the data-based simulation and output matching problems, and show that the difference from the true solution is bounded. Finally, the results are illustrated on an example of a fully actuated double inverted pendulum.

@article{10054127, abstract = {In this article, we present an extension of Willems' Fundamental Lemma to the class of multi-input–multi-output discrete-time feedback linearizable nonlinear systems, thus providing a data-based representation of their input–output trajectories. Two sources of uncertainty are considered. First, the unknown linearizing input is inexactly approximated by a set of basis functions. Second, the measured output data is contaminated by additive noise. Furthermore, we propose an approach to approximate the solution of the data-based simulation and output matching problems, and show that the difference from the true solution is bounded. Finally, the results are illustrated on an example of a fully actuated double inverted pendulum.}, added-at = {2024-02-07T10:07:39.000+0100}, author = {Alsalti, Mohammad and Lopez, Victor G. and Berberich, Julian and Allgöwer, Frank and Müller, Matthias A.}, biburl = {https://www.bibsonomy.org/bibtex/2df9920e5705c71c6d50248ab5c03a029/matthiasmueller}, doi = {10.1109/TAC.2023.3249289}, interhash = {f72403b9c8a668078206e912ae7644ab}, intrahash = {df9920e5705c71c6d50248ab5c03a029}, issn = {1558-2523}, journal = {IEEE Transactions on Automatic Control}, keywords = {#rank1 myown}, month = nov, number = 11, pages = {7014-7021}, timestamp = {2024-02-07T10:07:39.000+0100}, title = {Data-Based Control of Feedback Linearizable Systems}, volume = 68, year = 2023 }