Control of a class of nonlinear systems via linear controllers with application to robots

This paper deals with the control of nonlinear systems where a new idea is presented, the necessary theory is stated and applied to a well-known nonlinear system, the robot. The new idea is motivated by the complexity of nonlinear control methods and the ease of the well-established linear control. Here, it is not meant to approximate or neglect nonlinear effects but, on the contrary, to take them fully into account. This is done by estimating the nonlinear effects and compensating for them