한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)
- 제12권6호
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- Pages.145-151
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- 1995
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- 1225-9071(pISSN)
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- 2287-8769(eISSN)
기호 비선형 방정식의 해석적 선형화
Analytic Linearization of Symbolic Nonlinear Equations
초록
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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