Module-oriented automatic differentiation in nonlinear control

Li, Jin
Tan, Yuejin
Liao, Liangcai

2007-03-12T15:21:21Z

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In this paper, a module-oriented automatic differentiation (MAD) approach is presented based on traditional automatic differentiation algorithms. This approach can well exploit the sparsity of the model by partitioning it into a series of sequential modules and choosing the best differentiation algorithm for each module accordingly. Numerical results show that for nonlinear system, module-oriented automatic differentiation can calculate the Lie derivatives and Jacobians efficiently.

SISTEMAS DE CONTROL NO LINEAL; NONLINEAR CONTROL SYSTEMS;