Robust Control Approach for Input-Output Linearizable Nonlinear Systems Using High-Gain Disturbance Observer

This paper addresses a robust control approach for a class of input-output linearizable nonlinear systems with uncertainties and modeling errors considered as unknown inputs. As known, the exact feedback linearization method can be applied to control input-output linearizable nonlinear systems, if all the states are available and modeling errors are negligible. The mentioned two prerequisites denote important problems in the field of classical nonlinear control. The solution approach developed in this contribution is using disturbance rejection by applying feedback of the uncertainties and modeling errors estimated by a specific high-gain disturbance observer as unknown inputs. At the same time, the non-measured states can be calculated from the estimation of the transformed system states. The feasibility and conditions for the application of the approach on mechanical systems are discussed. A nonlinear MIMO mechanical system is taken as a simulation example to illustrate the application. The results show the robustness of the control design and plausible estimations of full rank disturbances. Copyright c © 0000 John Wiley & Sons, Ltd.