Controller design for nonlinear multi-input - Multi-output systems based on an algorithmic plant description

Research output: Contribution to journalResearch articleContributedpeer-review



Complicated multi-domain systems are usually described in terms of modelling languages. These models are mainly used for simulation. We discuss the usage of an algorithmic plant description for nonlinear controller design based on differential geometric concepts. The design procedures themselves are often formulated in terms of Lie derivatives. These derivatives are typically computed symbolically. The symbolic manipulations require an explicit description of the plant by formulae and expressions. Moreover, the symbolic computations can be very time consuming for complex and large-scale systems. These problems can be circumvented by automatic differentiation. This paper is concerned with the controller design of algorithmically modelled plants utilizing automatic differentiation.


Original languageEnglish
Pages (from-to)193-209
Number of pages17
JournalMathematical and Computer Modelling of Dynamical Systems
Issue number2
Publication statusPublished - Apr 2007

External IDs

ORCID /0000-0002-3347-0864/work/142255195



  • Automatic differentiation, Feedback linearization, Nonlinear control