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Linear, Time-varying Approximations to Nonlinear Dynamical Systems: Applications to Control

This research monograph presents a new concept of linearization which overcomes the existing problems of current linearization procedures and algorithms. The already existing linearization methods are local in their application and a global control methodology is not suitable. This new methodology approximates nonlinear systems by generating a sequence of linear time-varying equations. Algorithms provide a global method, and thus applying classical linear control to nonlinear problems now becomes possible. This methodology is currently being tested (in collaboration with The City University London) in The Cantabria University open-sea laboratories within the context of trajectory tracking of underwater autonomous vehicles.