Internet Control Course
In this chapter the most simple type of a system is considered. That is a cart going along straight rails. Due to its simplicity the qualitative control behavior of the system can be relatively easy investigated in a transparent geometrical way. The controllability is analyzed under phase and control constraints. As we shall see later, every affine nonlinear system without singularities can be represented as a garland of such simple carts going along the rails that are not straight but in some sense twisted. Our main goal at the beginning of these lectures is to clarify the basic concepts which will be used in subsequent lectures for more complicated and abstruct class of systems.
In this chapter the most simple type of a system is considered. That is a cart going along straight rails. Due to its simplicity the qualitative control behavior of the system can be relatively easy investigated in a transparent geometrical way. The controllability is analyzed under phase and control constraints. As we shall see later (Chapter II), every affine nonlinear system without singularities can be represented as a garland of such simple carts going along the rails that are not straight but in some sense twisted.