Control of nonlinear singularly perturbed systems using feedback linearisation

Abstract

A systematic approach to the control of a class of nonlinear singularly perturbed systems using feedback linearisation is proposed. The epsilon-independent diffeomorphism is engaged to transform the nonlinear systems into the linearised singularly perturbed form. Then the linear controller is robustly designed for the unknown epsilon. The practical aspects of the proposed scheme are illustrated through the control of a series DC motor.