u = a(x) + b(x)v, (3) where b(x) is a nonsingular matrix, and v ∈ Rp is a transformed or virtual input, so that the inputoutput response between v and y is linear. This requirement is called input-output linearization because only the input-output map h is made linear. On the other hand, full state linearization refers to the case when the whole state x must be “linearized”. Linearization of th...

u = a(x) + b(x)v, (3) where b(x) is a nonsingular matrix, and v ∈ Rp is a transformed or virtual input, so that the inputoutput response between v and y is linear. This requirement is called input-output linearization because only the input-output map h is made linear. On the other hand, full state linearization refers to the case when the whole state x must be “linearized”. Linearization of th...

Most industrial processes are nonlinear systems, the control method applied consisting of a linear controller designed for the linear approximation of the nonlinear system around an operating point. However, even though the design of a linear controller is rather straightforward, the result may prove to be unsatisfactorily when applied to the nonlinear system. The natural consequence is to use ...

Exact feedback linearization converts any system into appropriate form such that the controller design becomes convenient for the system. In this technique, control algorithm is developed based on exact feedback linearization through energy control. This approach is applicable to under actuated in which single control input, acceleration of cart, controlled the angle and position of cart. This ...

Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control b...

This paper proposes a trajectory tracking control for non-holonomic systems using dynamic feedback linearization based on piecewise multi-linear (PML) models. The approximated model is fully parametric. Input-output (I/O) dynamic feedback linearization is applied to stabilize PML control system. Although the controller is simpler than the conventional I/O feedback linearization controller, the ...

− This paper proposes the use of feedback linearization for the characterization of thermoresistive sensors and for the control of measurement systems based on thermoresistive sensors kept at constant temperature. Two important benefits brought by feedback linearization are: regarding sensor characterization, it allows the determination of static and dynamic parameters by a single experimental ...

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....

In this paper a combination of the feedback linearizing control technique and GloverMcFarlane control method is applied for the control of a synchronous motor. The use of feedback linearization requires the complete knowledge of the nonlinear system. In practice, there are many processes whose dynamics is very complex, highly nonlinear and usually incompletely known. To improve robustness, it m...