Feedback linearisation of nonminimum singular systems

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The paper presents a solution for feedback linearisation of a class of nonlinear systems which have singularity and nonminimum phase. Traditionally, these two problems have been mentioned as shortcomings of standard feedback linearisation. In the proposed scheme, purposely introduced uncertainty under the matching condition yields stabilisable linear systems with vanishing perturbed terms. With additional Lyapunov-based control terms, the considered system is shown to be exponentially stabilised. Finally, an illustrative example for the regulation problem is provided.
Publisher
IEE-INST ELEC ENG
Issue Date
2001-05
Language
English
Article Type
Article
Keywords

INPUT-OUTPUT LINEARIZATION; ROBUST STABILIZATION; NONLINEAR-SYSTEMS

Citation

IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS, v.148, no.3, pp.213 - 216

ISSN
1350-2379
URI
http://hdl.handle.net/10203/84276
Appears in Collection
EE-Journal Papers(저널논문)
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