This paper deals with the use of extra freedom in the exact linearization technique. Firstly, the freedom in choosing the coordinate transformation and nonlinear state feedback for the exact linearization is clarified. Secondly, a controller design strategy for the transient behavior improvement in the presence of impulsive disturbances is shown. Finally, numerical and experimental examples exh...

Abstract Control system design for inverter fed drives previously used the classical transfer function approach for single-input singleoutput (SISO) systems. Proportional plus Integral (PI) controllers were designed for individual control loops. It is found that the transient response of a PI controller is slow and is improved by pole placement through state feedback. However, the effective gai...

A universal single-input-single-output (SISO) controller is proposed which is based on higher-order sliding modes and requires output measurements only. The uncertain SISO dynamic system to be controlled is required to have a permanent knownin-advance relative degree. Its exact mathematical model is not needed. The proposed controller provides for exact finite-time-convergent output tracking wi...

In this paper new necessary and sufficient conditions for static output feedback stabilizability for continuous and discrete time linear time invariant systems have been proposed. These conditions are the basis for the procedure of static output feedback controller design proposed in this paper. The proposed LMI based algorithms are computationally simple and tightly connected with Lyapunov sta...

A H∞ control for linear parameter-varying (LPV) systems with a parameter-varying state delay is described. A new parameter-dependent H∞ performance criterion is first established by the introduction of a slack variable, which exhibits a kind of decoupling between Lyapunov functions and system matrices. This kind of decoupling enables us to obtain a more easily tractable condition for analysis a...

In this paper, the robust H∞ control problem of uncertain complex delayed dynamical networks with non-identical nodes is investigated. The dynamic output feedback controllers are designed to ensure robustly global stability and a smaller prescribed H∞ disturbance attenuation level for the resulting closed-loop systems. The controller design problem can be solved by a cone complementary lineariz...

The problem of exact linearization via feedback consists in transforming a nonlinear system into a linear one using a state feedback. In the multivariable case, the nonlinear control law achieves also decoupling. The use of feedback linearization requires the complete knowledge of the nonlinear system. In practice, there are many processes whose dynamics is very complex, highly nonlinear and us...

The uncertain systems under considered depend on norm-bounded time-varying matrices of uncertain parameters. The authors develop a quadratic guaranteed cost control method for robust stabilisation via linear memoryless state feedback and static output feedback. Also presented is a robust state feedback controller and static output feedback controller. It is shown that the state feedback control...

Abstract -This paper proposes a new approach to feedback linearization of flexible link robots which have uncertain modeling. The flexibility of joints is performed by use of the solenoid nonlinear springs, which have damper property. The simplified nonlinear H∞ controller is used to control linearized flexible link robots. The new continues and smooth model of frictions is used for modeling th...

For control applications, the angular velocity of drive crank a four-bar mechanism is traditionally assumed to be constant. In this paper, we propose variable obtain desired output motions for coupler point. To estimate reference trajectory velocity, neural network trained with data from kinematic model. The law designed feedback linearization tracking error dynamics and Proportional–Integral–D...