This paper presents a study of linear control systems based on exact feedback linearization and approximate feedback linearization. As exact feedback linearization is applied, a linear controller can perform the control objectives. The approximate feedback linearization is required when a nonlinear system presents a noninvolutive property. It uses a Taylor series expansion in order to compute a...

This paper considers 61 optimal control problems with full state feedback. In contrast to ,~ optimal control, previous work has shown that linear {1 optimal controllers can be dynamic and of arbitrarily high order. However, this paper shows that continuous memoryless nonlinear state feedback performs as well as dynamic linear state feedback. The derivation , which is nonconstructive, relies on ...

We propose an approach for the direct design from data of controllers finalized at solving tracking problems for nonlinear systems. This approach, called Direct FeedbacK (DFK) design, overcomes relevant problems typical of the standard design methods, such as modeling errors, nontrivial parameter identification, non-convex optimization, and difficulty in nonlinear control design. Considering a ...

Accurate detection and isolation of faults is a critical component of a reliable and efficient plantwide faulttolerant control system. In a recent work (Ohran et al. AIChE J. 2008, 54, 223), we demonstrated that using a nonlinear controller to enforce a specific structure in the closed-loop system allows data-based detection and isolation of certain faults that would otherwise not be isolable u...

The method of Lyapunov functions plays a central role in the study of the controllability and stabilizability of control systems. For nonlinear systems, it turns out to be essential to consider nonsmooth Lyapunov functions, even if the underlying control dynamics are themselves smooth. We synthesize in this article a number of recent developments bearing upon the regularity properties of Lyapun...

A number of computational methods have been proposed in the literature to design and synthesize feedback controls when the plant is modeled by nonlinear dynamics. It is not immediately clear, however, which is the best method for a given problem; this may depend on the nature of the nonlinearities, the size of the system, whether the amount of control used or time needed for the method is a con...

closed kinematic chains and 1 2 ) as a force constrainad mechanical system working on the samo object simultaneously. based on a feedback linearization and simultaneous output docoupling technique. Applying a nonli ear faodback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system....

The purpose of this paper is to demonstrate that a unified study of quantization and delay effects in nonlinear control systems is possible by merging the quantized feedback control methodology recently developed by the author and the small-gain approach to the analysis of functional differential equations with disturbances proposed earlier by Teel. We prove that under the action of a robustly ...

Virtually all chemical processes are nonlinear, but for several of them linear feedback control is adequate. Therefore, before nonlinear controller design is attempted, it is natural to ask “When is linear control adequate for a nonlinear process?” to ensure favorable cost/benefit ratio. Consequently, methods are needed that quantify the nonlinearity of a process within the context of assessing...