In the following paper:

Kuhne, Felipe, Walter Fetter Lages, and JM Gomes da Silva Jr. "Model predictive control of a mobile robot using linearization." In Proceedings of mechatronics and robotics, pp. 525-530. 2004.

They have linearized the system using Jacobian:

$$\boldsymbol{\dot x}_r=\boldsymbol{f}(\boldsymbol{x}_r,\boldsymbol{u}_r)$$


Then, I am wondering

1- Is it the only way to linearize the system or are there many methods to linearize and this is only one of them?

2- If there is a disturbance $\boldsymbol{d}$, then using this method, should we calculate the Jacobian around $\boldsymbol{d}_r$ or should we calculate it around zero disturbance? Which one is more common?

3- Is linearization of disturbance in the similar way to the linearization of states and input?

4- Is there any special linearization specific to robust control?


Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Browse other questions tagged or ask your own question.