Analytic Linearization of Symbolic Nonlinear Equations

기호 비선형 방정식의 해석적 선형화

  • Song, Sung-Jae ;
  • Moon, Hong-Ki
  • 송성재 (원주전문대학 자동차과) ;
  • 문홍기 (두원공업전문대학 자동차과)
  • Published : 1995.06.01

Abstract

The first-order Taylor series expansion can be evaluated analytically from the formulated symbolic nonlinear dynamic equations. A closed-form linear dynamic euation is derived about a nominal trajectory. The state space representation of the linearized dynamics can be derived easily from the closed-form linear dynamic equations. But manual symbolic expansion of dynamic equations and linearization is tedious, time-consuming and error-prone. So it is desirable to manipulate the procedures using a computer. In this paper, the analytic linearization is performed using the symbolic language MATHEMATICA. Two examples are given to illustrate the approach anbd to compare nonlinear model with linear model.

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