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，该模型将状态变量的位移与应用的周期控制输入联系起来，并结合了一种分析和综合周期控制器的方法。我们还对该方法进行了实验系统的检验，包括脚板移动机器人、圆柱滚动机器人等。

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.