Nonlinear Systems and Control

Lecture # 23

Controller Form

p. 1/1
Definition: A nonlinear system is in the controller form if

x = Ax + B(x)[u (x)]

where (A, B) is controllable and (x) is a nonsingular

u = (x) + 1 (x)v x = Ax + Bv

The n-dimensional single-input (SI) system

x = f (x) + g(x)u

can be transformed into the controller form if h(x) s.t.

x = f (x) + g(x)u, y = h(x)

has relative degree n. Why?

p. 2/1
Transform the system into the normal form
z = Ac z + Bc (z)[u (z)], y = Cc z

On the other hand, if there is a change of variables

= S(x) that transforms the SI system
x = f (x) + g(x)u

into the controller form

= A + B()[u ()]

then there is a function h(x) such that the system

x = f (x) + g(x)u, y = h(x)

has relative degree n. Why?

p. 3/1
For any controllable pair (A, B), we can find a nonsingular
matrix M that transforms (A, B) into a controllable
canonical form:

M AM 1 = Ac + Bc T , M B = Bc

def
z = M = M S(x) = T (x)
z = Ac z + Bc ()[u ()]
h(x) = T1 (x)

p. 4/1
In summary, the n-dimensional SI system

x = f (x) + g(x)u

is transformable into the controller form if and only if h(x)

such that

x = f (x) + g(x)u, y = h(x)

has relative degree n

Search for a smooth function h(x) such that

Lg Li1
f h(x) = 0, i = 1, 2, . . . , n1, and L Ln1
g f h(x) 6= 0
h i
T (x) = h(x), Lf h(x), Ln1
f h(x)

p. 5/1
The Lie Bracket: For two vector fields f and g , the Lie
bracket [f, g] is a third vector field defined by
g f
[f, g](x) = f (x) g(x)
x x
Notation:

ad0f g(x) = g(x), adf g(x) = [f, g](x)

adkf g(x) = [f, adfk1 g](x), k 1

Properties:
[f, g] = [g, f ]

For constant vector fields f and g , [f, g] = 0

p. 6/1
 Example
" # " #
x2 0
f = , g=
sin x1 x2 x1
" # " # " # " #
0 0 x2 0 1 0
[f, g] =
1 0 sin x1 x2 cos x1 1 x1
" #
x1
adf g = [f, g] =
x1 + x2

p. 7/1
 " # " #
x2 x1
f = , adf g =
sin x1 x2 x1 + x2

ad2f g = [f, adf g] =

" # " #
1 0 x2
1 1 sin x1 x2
" # " #
0 1 x1

cos x1 1 x1 + x2
" #
x1 2x2
=
x1 + x2 sin x1 x1 cos x1

p. 8/1
Distribution: For vector fields f1 , f2 , . . . , fk on D Rn , let

(x) = span{f1 (x), f2 (x), . . . , fk (x)}

The collection of all vector spaces (x) for x D is called

a distribution and referred to by

= span{f1 , f2 , . . . , fk }

If dim((x)) = k for all x D , we say that is a

nonsingular distribution on D , generated by f1 , . . . , fk
A distribution is involutive if

g1 and g2 [g1 , g2 ]

p. 9/1
Lemma: If is a nonsingular distribution, generated by
f1 , . . . , fk , then it is involutive if and only if

[fi , fj ] , 1 i, j k

Example: D = R3 ; = span{f1 , f2 }

2x2 1
f1 = 1 , f2 = 0 , dim((x)) = 2, x D

0 x2

0
f2 f1
[f1 , f2 ] = f1 f2 = 0

x x
1

p. 10/1
rank [f1 (x), f2 (x), [f1 , f2 ](x)] =

2x2 1 0
rank 1 0 0 = 3, x D

0 x2 1

is not involutive

p. 11/1
Example: D = {x R3 | x21 + x23 6= 0}; = span{f1 , f2 }

2x3 x1
f1 = 1 , f2 = 2x2 , dim((x)) = 2, x D

0 x3

4x3
f2 f1
[f1 , f2 ] = f1 f2 = 2

x x
0

2x3 x1 4x3
rank 1 2x2 2 = 2, x D

0 x3 0
is involutive

p. 12/1
Theorem: The n-dimensional SI system

x = f (x) + g(x)u

is transformable into the controller form if and only if there is

a domain D0 such that

rank[g(x), adf g(x), . . . , adn1

f g(x)] = n, x D0

and

span {g, adf g, . . . , adn2

f g} is involutive in D0

p. 13/1
Example
" # " #
a sin x2 0
x = + u
x21 1
" #
f a cos x2
adf g = [f, g] = g=
x 0
" #
0 a cos x2
[g(x), adf g(x)] =
1 0

rank[g(x), adf g(x)] = 2, x such that cos x2 6= 0

span{g} is involutive
Find h such that Lg h(x) = 0, and Lg Lf h(x) 6= 0

p. 14/1
 h h
g= = 0 h is independent of x2
x x2

h
Lf h(x) = a sin x2
x1
(Lf h) (Lf h) h
Lg Lf h(x) = g= = a cos x2
x x2 x1
h
Lg Lf h(x) 6= 0 in D0 = {x R2 | cos x2 6= 0} if x1 6= 0
" # " #
h x1
Take h(x) = x1 T (x) = =
Lf h a sin x2

p. 15/1
Example (Field-Controlled DC Motor)

ax1 1
x = bx2 + k cx1 x3 + 0 u

x1 x2 0

a a2
adf g = cx3 ; ad2f g = (a + b)cx3


x2 (b a)x2 k

1 a a2
2
[g(x), adf g(x), adf g(x)] = 0 cx3 (a + b)cx3


0 x2 (b a)x2 k

p. 16/1
 det[] = c(k + 2bx2 )x3

rank [] = 3 for x2 6= k/2b and x3 6= 0

span{g, adf g} is involutive if [g, adf g] span{g, adf g}

0 0 0 1 0
(adf g)
[g, adf g] = g= 0 0 c 0 = 0

x
0 0 0 0
span{g, adf g} is involutive

3 k
D0 = {x R | x2 > and x3 > 0}
2b
Find h such that Lg h(x) = Lg Lf h(x) = 0; Lg L2f h(x) 6= 0
p. 17/1
 x = [0, k/b, 0 ]T , h(x ) = 0

h h
g= = 0 h is independent of x1
x x1
h h
Lf h(x) = [bx2 + k cx1 x3 ] + x1 x2
x2 x3
h h
[(Lf h)/x]g = 0 cx3 = x2
x2 x3
h = c1 [x22 + cx23 ] + c2 , Lg L2f h(x) = 2c1 c(k 2bx2 )x3

h(x ) = c1 [(k/b)2 + c02 ] + c2

c1 = 1, c2 = (k/b)2 c02
p. 18/1