Feedback linearization is one of the major academic approaches for controlling exible joint robots. This contribution investigates the discrete-time implementation of the feedback linearization approach for a realistic threeaxis robot model. A simulation study of high speed tracking with model uncertainty is performed. It is assumed that full state measurements of the linearizing states are ava...

In this paper, the problem of non-regular static state feedback linearization of nonlinear switched systems is considered. Using semi-tensor product, some easily verifiable sufficient conditions for non-regular feedback linearization are obtained. Then an example is presented to illustrate the non-regular linearization process.

In this paper, based on feedback linearization control method and using a special PI (propotational integrator) regulator (IP) in combination with a feed-forward controller, a three-phase induction servo-drive is speed controlled. First, an observer is employed to estimate the rotor d and q axis flux components. Then, two input-output state variables are introduced to control the dynamics of to...

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...

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 neurolinearizer is compared to model predictive recurrent training...

This paper addresses the analysis, design, and application of observer-based nonlinear controls by combining feedback linearization (FBL) and backstepping (BS) techniques with Luenberger observers. Complete development of observer-based controls is presented for a bioprocess. Controllers using input-output feedback linearization and backstepping techniques are designed first, assuming that all ...

A straight forward application of feedback linearization to the missile autopilot design for acceleration control may be limited due to the nonminimum characteristics and the model uncertainties. As a remedy, this paper presents a cascade structure of an acceleration controller based on approximate feedback linearization methodology with a time-delay adaptation scheme. The inner loop controller...

Black-box modeling techniques based on artificial neural networks are opening new horizons for modeling and controlling nonlinear processes in biotechnology and chemical process industries. The link between dynamic process models and actual process control is provided by the concept of model based control (MBC), e.g. Internal Model Control (IMC) or Model Based Predictive Control (MBPC). To avoi...