Feedback linearization of uncertain nonlinear systems with time delay

Abstract

In this thesis, nonlinear systems are controlled by the feedback linearization method. The feedback linearization method is that it can use the various linear method because this method is to transform the nonlinear system dynamics into equivalent linear systems. In practical systems, there are always some parameter uncertainty, model uncertainty, noise exogenous signals, etc. Also, there exists a time delay because of transportation, measurement lags, analysis times, computation and other effects. The existence of these problems degrades the control performance and sometimes makes the system stabilizing difficult. Thus, we propose a systematic analysis and simple design methods for a class of nonlinear systems with the uncertainties with matching conditions and the time delay. The control scheme base on delay compensation requires accurate information of the size of the time delay. However, it is difficult to check the actual delay. Thus, we propose a more robust controller with the consideration of the excess time delay. Also, we propose the controller, applicable in the tracking problems, that compensate the time delay for input-output feedback linearizable system.