Linearization of the input}output response of a nonlinear system via state feedback has found many applications in control of nonlinear processes. However, in the presence of uncertainties, this approach leads to inexact linearization and results in the loss of performance and stability. In this paper, a controller design methodology is developed based on input/output linearization and multi-ob...

The purpose of this paper is to design and analyze feedback control laws achieving output linearization for wheeled mobile robots models taking into account small slipping effects at the wheel/ground contact point. We discuss the existence and attractivity of the slow manifold associated to any feedback control, and we show the existence of a feedback control law that achieves output linearizat...

Backstepping is a nonlinear control design tool for underactuated systems. Backstepping is used for output stabilization or tracking using feedback similarly to feedback linearization. In feedback linearization the stabilizing controller is designed entirely for a virtual input which is then mapped back to the physical input by completely canceling nonlinearities. In backstepping the system is ...

In this paper, an Output Feedback Model Predictive Control for nonlinear systems is presented. The proposed output feedback control consists of the well known robust controller NCGPC (Nonlinear Continuous Time Generalized Predictive Control) and an open loop observer (a simulated model in parallel) in order to estimate the output derivatives and a regulation filter used to account for plant/mod...

In this paper, robust control design is presented for a general class of uncertain non-affine nonlinear systems. The design employs feedback linearization, coupled with two high-gain observers— the first to estimate the feedback linearization error based on the full state information; the second to estimate the unmeasured states of the system when only the system output is available for feedbac...

Input{output linearization is a method that uses nonlinear state feedback control to obtain linear equations between the input and output of a nonlinear control system. Its success depends crucially on the ability of the control to steer the state across the level sets of the output function. It is clear that this is essentially a global geometrical problem. In this work, we present a lineariza...

This paper proposes a servo control system based on a minimal-order state observer for nonlinear systems approximated by piecewise bilinear (PB) models. The design method is capable of designing the state observer and the servo controller of nonlinear systems separately. The approximated system is found to be fully parametric. The input-output (I/O) feedback linearization is applied to stabiliz...

In this paper, a novel approach for control of the DC-DC buck converter in high-power and low-voltage applications is proposed. Designed method is developed according to state feedback linearization based controller , which is able to stabilize output voltage in a wide range of operation. It is clear that in high-power applications, parasitic elements of the converter may become comparable with...

1729 For the third term on the RHS of (39), by 2) of Lemmas 1 and 4 we have (41) where is given in Theorem 1. In this paper, we have studied the adaptive control of a class of discrete-time stochastic nonlinear systems whose nonlinearities satisfy the linear growth condition. (This condition cannot be essentially relaxed in general as recently shown in [13].) The prediction/WLS-based adaptive c...