Feedback linearization is one of the major academic approaches for controlling exible joint robots. This contribution investigates the discrete-time implementation of the feedback linearization approach for a realistic threeaxis robot model. A simulation study of high speed tracking with model uncertainty is performed. It is assumed that full state measurements of the linearizing states are ava...

We show that a well-known linearization technique initially proposed for quadratic assignment problems can be generalized to a broader class of quadratic 0-1 mixed-integer problems subject to assignment constraints. The resulting linearized formulation is more compact and tighter than that obtained with a more usual linearization technique. We discuss the application of the compact linearizatio...

In this chapter, the basic theory of feedback linearization is presented and issues of particular relevance to process control applications are discussed. Two fundamental nonlinear controller design techniques — input-output linearization and state-space linearization — are discussed in detail. The theory also is presented for linear systems to facilitate understanding of the nonlinear results....

Abstract We present a new proof of the turnpike property for nonlinear optimal control problems, when running target is steady control-state pair underlying system. Our strategy combines construction quasi-turnpike controls via controllability, and bootstrap argument, does not rely on analyzing optimality system or linearization techniques. This in turn allows us to address several problems fin...

In this paper a global linearization of fuzzy model is given. The parameters of global linear model are obtained by instantaneous linearization of fuzzy model. The model is given in the form of the Sugeno-Takagi fuzzy model.

We propose a new approach to solve graph isomorphism using parameterized matching. To find isomorphism between two graphs, one graph is linearized, i.e., represented as a graph walk that covers all nodes and edges such that each element is represented by a parameter. Next, we match the graph linearization on the second graph, searching for a bijective function that maps each element of the firs...

This article is devoted to the synthesis of composite control for nonlinear singularly perturbed system using feedback linearization (FL). The idea of this method consists in converting the original nonlinear system into a linear one by means of state feedback and coordinate transformation. Then, methods of control theory for linear systems are used for system design. If the original nonlinear ...

One of the most frequently used techniques to solve polynomial eigenvalue problems is linearization, in which the polynomial eigenvalue problem is turned into an equivalent linear eigenvalue problem with the same eigenvalues, and with easily recoverable eigenvectors. The eigenvalues and eigenvectors of the linearization are usually computed using a backward stable solver such as the QZ algorith...

Abstract Three new and applicable approaches based on quasi-linearization technique, wavelet-homotopy analysis method, spectral methods, converting two-point boundary value problem to Fredholm–Urysohn integral equation are proposed for solving a special case of strongly nonlinear problems, namely Troesch problem. A technique is utilized reduce the sequence linear equations in first method. Seco...

The current article is concerned with a comprehensive investigation of achieving the simplest solution non-conservative coupled nonlinear forced oscillators. mainly depends on non-perturbative method. It yielding an equivalent linear system. advantage this system that its coefficients are easily computed and they include effects original coefficients. This linearization approach allows quasi-ex...