Non-linear controller is preferred to linear controller due to non-linear operation of DSTATCOM. System dynamic can be improved by regulating and fixing the capacitor DC voltage in DSTATCOM. The nonlinear control is based on exact linearization via feedback. There is a PI controller in this system to regulate DC voltage. In conventional scheme, the trial and error method is used to determine PI...

In this paper, an optimM trajectory planning problem for a single-link t_exiblejoint manipulator is studied. A global feedback-linearization technique is first applied to formulate the nonlinear inequality-constrained optimization problem in a suitable way. Then, an exact and explicit structural formu/a for the optimal solution of the problem is derived and the solution is shown to be unique. I...

In this paper, we characterize a class of feasible direction methods in nonlinear programming through the concept of partial linearization of the objective function. Based on a feasible point, the objective is replaced by an arbitrary convex and continuously diierentiable function, and the error is taken into account by a rst order approximation of it. A new feasible point is deened through a l...

This paper proposes a multi-objective optimization model (P1) that determines the optimal selection of parallel units considering the trade-off between the availability of a serial producing system and total investment costs. Model (P1) is solved through the constrained MINLP model (P1’) that maximizes system availability subject to a series of upper bounds of the total cost, which yields a set...

This paper aims to further improve previously developed design for Acrobot walking based on partial exact feedback linearization of order 3. Namely, such an exact system transformation leads to an almost linear system where error dynamics along trajectory to be tracked is a 4-dimensional linear time-varying system having 3 time-varying entries only, the remaining entries being either zero or on...

In dealing with parametric nonlinear mixed effects models, intensive numerical integration often makes exact maximum likelihood estimation impractical given the current computing capacity. Algorithms based on linearization, such as the first order method and the conditional first order method, have the potential of producing highly inconsistent estimates, although numerically they are more effi...

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...

The singularity manifold equation of the Kadomtsev-Petviashvili equation, the so-called Krichever-Novikov equation, has an exact linearization to an overdetermined system of partial diierential equations in three independent variables. We study in detail the Cauchy problem for this system as an example for the use of the formal theory of diierential equations. A general existence and uniqueness...

This paper proposes two methods for nonlinear observer design which are based on a partial nonlinear observer canonical form (POCF). Observability and integrability existence conditions for the new POCF are weaker than the well-established nonlinear observer canonical form (OCF), which achieves exact error linearization. The proposed observers provide the global asymptotic stability of error dy...

This work presents an approach to simultaneously but independently control the compliance of a robotic system transversal and tangential to a given path. A subordinate path following controller transforms the nonlinear dynamics into a linear system with decoupled transversal and tangential dynamics via a coordinate transformation and an exact input-output linearization. The outer control loop u...