Stabilization of Approximately Feedback Linearizable Systems Using Singular Perturbation

We consider a stabilization problem of approximately feedback linearizable systems. We introduce a perturbation parameter by applying high-gain feedback and use both the feedback linearization method and the singular perturbation method for the controller design. Through this, we can overcome the rigorous conditions of the feedback linearization method and can reduce the dimension of the slow model of the singularly perturbed system.