Abstract
Linearly approximated systems are useful for controlling nonlinear systems. In order to obtain linearly approximated systems, derivatives of right hand side of state equations need to be computed around some operating points. To obtain the values of the partial derivatives, the automatic differentiation is useful. Although the automatic differentiation enables us to compute derivatives efficiently and accurately, tools for automatic differentiation may not be useful for rapid prototyping control system design. We therefore propose a method to rewrite source codes along the ideas of automatic differentiation. The proposed method is easy to understand and the obtained source codes remain readable. Consequently, the proposed method enables us systematically rewriting codes without sacrificing the merits of rapid prototyping developments. We also apply the proposed technique to an air flow model of diesel engines and examine the effectiveness of the technique.
