Pseudolinearization of the acrobot using spline functions

The authors present an algorithm for the construction of approximation to both the nonlinear control and coordinate transformation under which a single-input nonlinear system has a linear tangent model independent of its operating point. Substituting spline approximations for functions that can be difficult to compute yields a stable closed-loop system with an arbitrarily small deterioration in performance. The approximate pseudolinearization control law is easy to calculate and inexpensive to implement, regardless of the complexity of the nonlinear model. Experimental results obtained by implementing the approximate pseudolinearization control law on a remotely driven acrobot verify the controller´s ease of design and computational efficiency