We present an approach to designing feedback controllers that solve a path following control problem for a large class of mechanical systems. Our approach involves set stabilization via transverse feedback linearization: a coordinate and feedback transformation that yields a normal form convenient for control design making desired path attractive. Our approach also involves refining the normal ...

This paper presents a nonlinear control strategy utilizing the linearization and input-output decoupling approach for a nonlinear dynamic model of proton exchange membrane fuel cells (PEMFCs). The multiple-input single-output (MISO) nonlinear model of the PEMFC is derived first. The dynamic model is then transformed into a multiple-input multiple-output (MIMO) square system by adding additional...

In this paper we present a new approach to design the input control to track the output of a non-minimum phase nonlinear system. Therefore, a ascade control scheme that combines input–output feedback linearization and gradient descent control method is proposed. Therein, input–output eedback linearization forms the inner loop that compensates the nonlinearities in the input–output behavior, and...

The Anti-lock braking system (ABS) is an active safety device in road vehicles, which during hard braking maximizes the braking force between the tyre and the road irrespective of the road conditions. This is accomplished by regulating the wheel slip around its optimum value. Due to the high non-linearity of the tyre and road interaction, and uncertainties from vehicle dynamics, a standard PID ...

This paper presents a study of linear control systems based on exact feedback linearization and approximate feedback linearization. As exact feedback linearization is applied, a linear controller can perform the control objectives. The approximate feedback linearization is required when a nonlinear system presents a noninvolutive property. It uses a Taylor series expansion in order to compute a...

The paper addresses the disturbance decoupling problem for MIMO discretetime nonlinear systems. A sufficient conditions are derived to solve the problem by dynamic measurement feedback, i.e. the feedback that depends on measurable outputs only. The solution to the disturbance decoupling problem, described in this paper, is based on the input-output linearization, which is used to linearize cert...