Symbolic numerical computational tools for nonlinear and adaptive control

Abstract

We describe a symbolic computer algebra system (CAS) toolbox for nonlinear and adaptive control law synthesis and simulation. This Mathematica program provides functions for basic mathematical operations frequently encountered in analysis of nonlinear systems, implements algorithms for adaptive and approximate nonlinear control as well as provides speedy and flexible simulation via automatic C and MATLAB code generation. The package is applied to conical magnetic bearings, a system of 18-dimensions and an uncertain parameter.<>