ROBUST STABILIZING CONTROLLER DESIGN FOR MULTIPLE-INPUT/MULTIPLE-OUTPUT NONLINEAR SYSTEM USING AN APPROXIMATE FEEDBACK LINEARIZATION METHOD

摘要

In this paper, we examine a design method for robust stabilizing controllers for multiple-input/multiple-output nonlinear systems using approximate feedback linearization. We adapt a three-step procedure to solve this problem. First, a state transformation matrix is determined such that the nominal nonlinear system is transformed approximately into the controllable canonical form. Then, the nonlinear system is divided into the controllable canonical representation section and the remainder. Second, the standard nonlinear feedback linearization method is used to transform the controllable canonical form into a linear system. Third, using quadratic stabilizing method, we can design robust stabilizing controllers.