On the Internal Stability and Robust Design of Globally Linearizing Control Systems

The global input/output linearization approach is used for the design of control systems for nonlinear plants. Input/output linearizing state feedback is interpreted as canceling the zero dynamics of a plant. As a result, the class of nonlinear systems that are internally stabilized by input-output linearizing feedback is completely characterized. Two alternative robust design approaches are proposed. One refers to unstructured uncertainty and extends linear results. The other considers uncertainty as a class of bounded perturbation to the state model and uses a Lyapunov-based approach to guarantee uniform ultimate boundedness.

On the Internal Stability and Robust Design of Globally Linearizing Control Systems Conference Paper