A simplified state feedback method for nonlinear control based on exact feedback linearization

For the complexity and difficulty problem of states feedback and measure based on exact feedback linearization method, a simplified state feedback design method without requirement of states measure is put forward. First, the nonlinear model is introduced, and is linearized through exact feedback linearization method with a state feedback law and a state transform. Second, according to the linear model, a PID controller is designed based on the closed-loop gain shaping algorithm. Then, by using a steady state value of this system, the state feedback law is simplified. Last, nonlinear simulations demonstrate that, with the controller, the simplified state feedback achieves satisfying control performance and is robust to model variations. Compared with the state feedback in exact feedback linearization, the simple feedback method is easier to realize, and has no requirement of states measure, which afforded another approach for nonlinear system controller design.