Approximate state-feedback linearization using spline functions

This paper presents a algorithm for the construction of a state-feedback linearizing controller. The technique uses part of the state coordinate transformation from the pseudo-linearizing method as an "output function". Spline function interpolation is used to construct the controller, which can be accomplished regardless of the complexity of the nonlinear model. A coplanar two-link robotic manipulator Acrobot is used to illustrate the design technique, and simulation results are presented which support assertions of computational efficiency and high-performance.