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Title: Module-oriented automatic differentiation in nonlinear control
Authors: Li, Jin
Tan, Yuejin
Liao, Liangcai
Issue Date: 12-Mar-2007
Abstract: 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.
Appears in Collections:2005 International Conference on Industrial Electronics and Control Applications (FIEE)

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