Nonlinear Robust Control via Approximate Feedback Linearization
| Authors: | Motlagh Reza Banirazi, Islamic Azad University, Tehran Sought Unit, Iran (Islamic Republic of)
Motlagh Mohamad Jahed, Iran University of Science and Technology, Iran (Islamic Republic of) |
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| Topic: | 2.3 Non-Linear Control Systems |
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| Session: | Nonlinear Controller Design |
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| Keywords: | nonlinear systems, feedback linearization, approximate analysis, robust control, stability analysis, uncertainty. |
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Abstract
This paper develops a technique of robust approximate tracking and regulation for nonlinear systems that do not satisfy the restrictive regularity assumptions required by exact feedback linearization approach. This technique achieves closed-loop stability and reasonable performance in the presence of time-varying parametric uncertainties or unknown nonlinearities. Regarding the uncertainties, though the knowledge of bounds and satisfaction of matching condition are assumed, no linear dependence on the system dynamics or conic continuity on the growth of system nonlinearities are required. The design is developed for the input tracking and state regulation problems separately.
