Robust input-output feedback linearization

摘要: To make input-output feedback linearization a practical and systematic design methodology for single-input nonlinear systems, two problems need to be addressed. One is handle systematically the difficulties associated with internal dynamics or zero-dynamics when relative degree less than system order. The other account effect of model uncertainties in successive differentiations output interest. While first problem has recently received considerable attention, second been largely unexplored. This paper represents preliminary study robustly parametric original model. approach based on combining sliding control ideas recursive construction closed-loop Lyapunov function, illustrated simple example.