Approximate Input-Output Linearization of Nonlinear Systems Using the Observability Normal Form

Abstract The problem of controlling nonlinear nonminimum-phase systems is considered, where standard input-output feedback linearization leads to unstable internal dynamics. This problem is handled here by using the observability normal form in conjunction with input-output linearization. The system is feedback linearized upon neglecting a part of the system dynamics, with the neglected part being considered as a perturbation. A linear controller is designed to accommodate the perturbation resulting from the approximation. Stability analysis is provided based on the vanishing perturbation theory.


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European Control Conference
Year:
2003
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 Record created 2004-11-26, last modified 2018-01-27

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