Controller Design Based on Computed Feedback Linearization

The computed feedback linearization is proposed to control a nonlinear mechanical system. This technique numerically determines the feedback signal, as a function of state, such that the resulting feedback system is linear and stable. The aim is to design a universal controller for nonlinear system based on feedback linearization. Once the feedback system is linear, the superposition holds, and thus the additional control effort can be superimposed to control the trajectory. In this way, stabilization and trajectory controller are seamlessly integrated. In addition, the proposed technique can be used in conjunction with the LQ technique to determine the near optimum gains. Both simulation and experiment based on water tank system and disk plant are used to demonstrate the technique