A control synthesis scheme for the feedback linearization of single-input single-output nonlinear systems subject to constraints is presented. The approach requires an external, statedependent saturation element, which translates the actuator bounds to the feedback linearizing control input. Thus the \linearizing" properties of the di erential geometric controller are preserved, and a linear an...

This work concerns the synthesis of discrete-time nonlinear controllers for nonlinear processes that make the closed-loop system linear in an input/output sense. The synthesis of state feedback controllers is studied first, followed b.y the synthesis of dynamic output feedback controllers. Both problems are solved within the globally linearizing control ( GLC) framework. Precise theoretical con...

A wheeled mobile robot is subject to both holonomic and nonholonomic constraints. Representing the motion and constraint equations in the state space, this paper studies the feedback linearization of the dynamic system of a wheeled mobile robot. The main results of the paper are: (1) It is shown that the system is not input-state linearizable. (2) If the coordinates of a point on the wheel axis...

By rapid development of semiconductor and commands strategies as vector control (VC), direct torque control (DTC) and input-output linearization (IOL) a permanent magnet synchronous motors (PMSM) have gained variety industrial applications. This paper combines the application of neuro-genetic (NG) with input-output linearization techniques to control the PMSM. The use of a genetic algorithm is ...

The problem of tracking control of nonlinear systems whose the zero dynamics are unstable is addressed in this paper. It is shown that, using a novel cascade structure where the backstepping approach is given to stabilise the internal dynamics and the standard input output linearization to stabilise the external dynamics. Assuming high-gain feedback for the external dynamics, a stability analys...

In this paper, we study the tracking control problem for a nonlinear system in which the zero dynamics may be unstable. The objective here is to approximate the nonlinear system by another singularly perturbed system by using a small singular perturbation parameter  . The proposed approach is based on the methodology of exact input output linearization control, the integrator backstepping appr...

In this paper, output tracking control of a helicopter model is investigated. The model is derived from Newton-Euler equations by assuming that the helicopter body is rigid. First, we show that for several choices of output variables exact input-output linearization fails to linearize the whole state space and results in having unstable zero dynamics. By neglecting the couplings between moments...