New model for nonlinear control: series expansion based on principle of holonomy

在这项研究中，我们提出了一个非线性控制系统的输入-输出模型，重点是完整性的原则，其中涉及的位移状态变量的应用周期控制输入，与周期控制器的分析和综合的方法。我们也用实验系统，包括脚轮移动的机器人，圆柱形滚动机器人等来检验这种方法。

In this study, we proposed an input-output model for nonlinear control systems focusing on the principle of holonomy which relates displacement of state variables to the applied periodic control inputs, associated with a method for analysis and synthesis of periodic controllers. We also examined this approach with experimental systems including casterboard mobile robot, cylindrical rolling robot and so on.