The problem of exact linearization via feedback consists in transforming a nonlinear system into a linear one using a state feedback. In the multivariable case, the nonlinear control law achieves also decoupling. 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 us...

Inertially Actuated Jumping Robots (IAJR) provide a promising new means of locomotion. The difficulty IAJR is found in the hybrid nature ground contact/flying dynamics. Recent research studies our Systems Lab have provided family tree inertially actuated locomotion systems. proposed Tapping Robot most prompt member this tree. In paper, feedback linearization controller introduced to controllabi...

The tools of lattice theory are applied to readdress the static state feedback linearization problem for discrete-time nonlinear control systems. Unlike the earlier results that are based on differential geometry, the new tools are also applicable for nonsmooth systems. In case of analytic systems, close connections are established between the new results and those based on differential one-for...

This paper presents a theoretical framework for nonregular feedback linearization and stabilization of second-order nonholonomic chained systems. By giving a new criterion for the problem of nonsmooth nonregular feedback linearization, it is proved that second-order chained systems are nonregular static state feedback linearizable. A discontinuous control law is obtained based on linear system ...

This paper presents the design of feedback linearization and neural network based feedback linearization (NARMAL2) controller for a magnetic levitation system. The magnetic levitation system is one of the classical nonlinear systems. The paper provides simulation results to validate the theoretical design.