We present a new type of feedback linearization that is tailored for mechanical control systems. call it linearization. Its basic feature the preservation structure system. For systems with scalar control, we formulate necessary and sufficient conditions are verifiable using differentiations algebraic operations only. illustrate our results several examples.

This work summarizes some results about static state feedback linearization for time-varying systems. Three different necessary and sufficient conditions are stated in this paper. The first condition is the one by [Sluis, W. M. (1993). A necessary condition for dynamic feedback linearization. Systems & Control Letters, 21, 277–283]. The second and the third are the generalizations of known resu...

This paper presents an approach to design a nonlinear controller for a pneumatic cylinder system for which the connection port comprises a non-negligible restriction. The pressure chamber of this system is difficult to control because the servo valve and the connection port form a double restriction. This double restriction causes a singularity in the feedback linearization controller. To avoid...

In this lecture, we investigate the problem of exact linearization by feedback for multiple input multiple output systems. We will see that, when a “vector” relative degree exists, things go as smoothly as for SISO systems. To deal with the case when no relative degree exists, we will discuss the dynamic extension algorithm. This algorithm will help us choose a dynamic state feedback to make th...

solvable by means of a simple hybrid control law, i.e., it is possible to achieve global exponential stability of the zero equilibrium in the presence of (small) perturbations vanishing at the origin. The control law retains the basic properties of the discontinuous control laws proposed in [1], namely exponential convergence rate and lack of oscillatory behavior. The results presented in this ...