Abstract: In the input-output feedback linearization design, the time derivatives of the output function have to be taken successively for the presence of the control signal. Uncertainties in the ...
Abstract: We present closed-form expressions for marginalizing and conditioning Gaussians onto linear manifolds, and demonstrate how to apply these expressions to smooth non-linear manifolds through ...
First-order derivatives: n additional function calls are needed. Second-order derivatives based on gradient calls, when the "grd" module is specified (Dennis and Schnabel 1983): n additional gradient ...
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