0352932 20240103194500.220110106235959.9 2010 Transformations and decompositions automatic control nonlinear systems exact feedback linearization underactuated mechanical systems walking robot cav_un_auth*0101074 Čelikovský Sergej Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. CEZ:AV0Z10750506 Exact transformations and decompositions of controlled dynamical systems has been intensively studied as an important part of control theory and its applications. One of the most important problems in this respect is the so-called exact feedback linearization method which enables to solve the control design for a given nonlinear system via its transformation into a simpler model, which would be at least partially linear one. In such a way it results into the decomposition of the original complex interconnected nonlinear model into a number of less complex subsystems with either simple or no connections between them. Typically, each linear part of this decomposition does not depend on the rest of the model and corresponds to some single output and single input component, while the nonlinear residuum is sufficient to be analyzed only qualitatively. 2011 BC http://hdl.handle.net/11104/0192313 2010 2010