Stochastic linearization produces a linear system with the same covariance kernel as the original nonlinear system. The method passes from factorization of finite-dimensional co-variance kernels through convergence results to the final input/output operator representation of the linear system. 1. Introduction. Linearization and hence stochastic linearization of a nonlinear system is about local...

Abstract: Feedback linearization is a common approach used in controlling nonlinear systems. The approach involves coming up with a transformation of the nonlinear system into an equivalent linear system through a change of variables and a suitable control input. In this paper a new control structure based on the application of the method of exact linearization by Direct Feedback Linearization ...

Cable robots are structurally the same as parallel robots but with the basic difference that cables can only pull the platform and cannot push it. This feature makes control of cable robots a lot more challenging compared to parallel robots. This paper introduces a controller for cable robots under force constraint. The controller is based on input-output linearization and linear model predicti...

 An adaptive input-output linearization method for general nonlinear systems is developed without using states of the system. Another key feature of this structure is the fact that, it does not need model of the system. In this scheme, neurolinearizer has few weights, so it is practical in adaptive situations.  Online training of neuroline...

In this paper, a nonlinear adaptive speed controller for a permanent magnet synchronous motor (PMSM) based on a newly developed adaptive backstepping approach is presented. The exact, input-output feedback linearization control law is first introduced without any uncertainties in the system. However, in real applications, the parameter uncertainties such as the stator resistance and the rotor f...

This paper investigates the issue of the internal stability of nonlinear delay systems controlled with a feedback law that performs exact input–output, linearization and delay cancellation. In previous works the authors showed that, unlike with the case of systems without state delays, when the relative degree is equal to the number of state variables and the output is forced to be identically ...

 Two passivity-based controllers and an input-output linearization controller for current-fed saturated induction motors are presented. Advantages and disadvantages of the controllers are discussed. Finally, experimental results obtained with one of the passivity-based controllers are presented.