In this paper, the problem of non-regular static state feedback linearization of nonlinear switched systems is considered. Using semi-tensor product, some easily verifiable sufficient conditions for non-regular feedback linearization are obtained. Then an example is presented to illustrate the non-regular linearization process.

In the polynomial approach to systems control, the static output feedback problem can be formulated as follows: given two polynomial matrices D(s) and N(s), nd a constant matrix K such that polynomial matrix D(s) + KN(s) is stable. In this paper, we show that solving this problem amounts to solving a linear matrix inequality with a non-convex rank constraint. Several numerical experiments illus...

Lie algebra is an area of mathematics that is largely used by electrical engineer students, mainly at post-graduation level in the control area. The purpose of this paper is to illustrate the use of Lie algebra to control nonlinear systems, essentially in the framework of mobile robot control. The study of path following control of a mobile robot using an input-output feedback linearization con...

In this paper some adaptive nonlinear multivariable techniques used in the control of robotic manipulators are presented. The nonlinear control law and state feedback are used in achieving a linear inputoutput behavior for the controlled system. For the design of the adaptive nonlinear control, the exact feedback input-output linearization and the method of gradient are used. The nonlinear cont...

Abstract: This paper presents a nonlinear controller for uncertain single-input–single-output (SISO) nonlinear systems. The adopted approach is based on the feedback linearization strategy and enhanced by a fuzzy inference algorithm to cope with modeling inaccuracies and external disturbances that can arise. The boundedness and convergence properties of the tracking error vector are analyticall...

This paper investigates the adaptive control design for a class of nonlinear systems using Lyapunov’s stability theory. The proposed method is developed based on a novel Lyapunov function, which removes the possible controller singularity problem in some of the existing adaptive control schemes using feedback linearization techniques. The resulting closed-loop system is proven to be globally st...

A global linearization of nonlinear input-output descriptions by relaxing the appropriate appearances of inputs, outputs and their derivatives is applied. The resulting time-varying linear systems are described by skew polynomial systems accepting most of the methods of ordinary polynomial systems. The properties like stability and controllability of nonlinear systems can be analyzed using the ...

This paper deals with adaptive output tracking of a transverse flux permanent magnet machine as a nonlinear system with unknown nonlinearities by utilizing Takagi-Sugeno type neuro-fuzzy networks. The technique of feedback linearization and H control are used to design an adaptive control law for compensating the unknown nonlinear parts, such the effect of cogging torque, as a disturbance on th...

This paper presents a robust adaptive feedback linearizing control law to solve the integrated kinematic and dynamic trajectory tracking problem of nonholonomic mechanical systems in presence of parametric and nonparametric uncertainties. An adaptive nonlinear control law is proposed based on input-output feedback linearization technique to get asymptotically exact cancellation of the parametri...