Particle swarm optimization in the exact linearization technic for output tracking ofnon-minimum phase nonlinear systems

摘要

In this paper, we develop a method to design the input control totrack the output of a nonminimum-phase nonlinear systems asymptotically.The design of the control input is based on an exact linearization.To perform the exact linearization, the other output should be selectedsuch that its relative degree is equal to the dimension of the system.Furthermore, the desired output of the output which has been selectedwill be set based on the desired output of the original system. Thedesired output of the output which has been selected is determinedby Particle Swarm Optimization. In applying the input control whichis obtained via output-input linearization sometimes led to singularity.To overcome this singularity problem, polynomial control is developedaround the point of singularity.