Discrete Function Approximation: Numerical Tools for Nonlinear Control

Muruhan, Rathinam and Murray, Richard M. (1998) Discrete Function Approximation: Numerical Tools for Nonlinear Control. Technical Report. California Institute of Technology. [CaltechCDSTR:1998.CIT-CDS-98-009]

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Abstract

We describe a method for discrete representation of continuous functions and show how this may be used for typical computations in nonlinear control desi gn. The method involves representing functions by their values and finitely many derivatives at discrete set of points on the domain. We propose a grid structure based on a hierarchy of rectangular boxes that provides flexibility in placing grid points densely in some regions and sparsely in the other. The grids possess enough structure to facilitate easy interpolation schemes based on piecewise polynomials. We illustrate the method using a simple example where we compute the feedback linearizing output of a system.

EPrint Type:	Monograph (Technical Report)
Subjects:	All Records
ID Code:	5
Deposited By:	Richard M. Murray
Deposited On:	23 September 2002
Unique Identifier:	CaltechCDSTR:1998.CIT-CDS-98-009
Official Persistent URL:	http://resolver.caltech.edu/CaltechCDSTR:1998.CIT-CDS-98-009
Usage Policy:	You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.

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