Tracking Control for Unlinearizable Nonlinear Systems

摘要

In this paper, we consider a tracking problem for nonlinear systems of which input-output behaviours cannot be linearized. Such a system is converted to a singularly perturbed control system using a time-scale transformation and coordinate transformations under some assumptions. The exact-tracking control for the singularly perturbed control system is accomplished by a composite control law. The exact-tracking control law is approximated by truncating higher-order terms with respect to #epsilon#. The proposed method is applied to a ball and beam example.