High-order fully actuated system approaches: Part X. Basics of discrete-time systems

Abstract

A basic introduction to high-order fully actuated (HOFA) approaches for discrete-time systems is given. Firstly, it is shown that, different from the continuous-time systems, general dynamical discrete-time systems can be represented by two types of discrete-time HOFA models, namely, the step forward HOFA models and the step backward HOFA models. Secondly, controllers for the step backward HOFA models are designed, which result in constant linear closed-loop systems with arbitrarily assignable eigenstructures. The related problem of feasibility is also discussed. The well-known discrete-time feedback linearisable systems and strict-feedback systems are shown to be equivalent to both the step forward and step backward HOFA models. Finally, a generalised step backward HOFA model containing control vectors of different time instants is proposed and investigated and demonstrated with a type of proposed pseudo feed-forward systems. The contribution in this paper has laid a fundamental basis for discrete-time HOFA approaches. Further analysis and design problems can be naturally established parallel to the continuous-time system case.