Feedback linearisation of nonminimum singular systems

Presents a solution for feedback linearisation of a class of nonlinear systems which have singularity and nonminimum phase. Traditionally, these two problems have been mentioned as shortcomings of standard feedback linearisation. In the proposed scheme, purposely introduced uncertainty under the matching condition yields stabilisable linear systems with vanishing perturbed terms. With additional Lyapunov-based control terms, the considered system is shown to be exponentially stabilised. Finally, an illustrative example for the regulation problem is provided