Jacobian linearisation in a geometric setting

• Published in: 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475) Vol. 6; pp. 6084 - 6089 Vol.6
• Main Authors: Tyner, D.R., Lewis, A.D.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 2003
• Subjects: Control systems; Control theory; Controllability; Design engineering; Design methodology; Jacobian matrices; Mathematics; Optimal control; Statistical analysis; System testing

Linearisation is a common technique in control applications, putting useful analysis and design methodologies at the disposal of the control engineer. In this paper, linearisation is studied from a differential geometric perspective. First it is pointed out that the "naive" Jacobian techni...