An Anti-Windup Input-Output Linearization Scheme for SISO Systems
نویسنده
چکیده
A control synthesis scheme for the feedback linearization of single-input single-output nonlinear systems subject to constraints is presented. The approach requires an external, statedependent saturation element, which translates the actuator bounds to the feedback linearizing control input. Thus the \linearizing" properties of the di erential geometric controller are preserved, and a linear anti-windup can be applied in the outer loop. Conditions for nominal stability are provided. An application to a numerical example is presented.
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