Robustness Analysis With Respect to Exogenous Perturbations for Flatness-Based Exact Feedforward Linearization

A methodology to analyze robustness with respect to exogenous perturbations for exact feedforward linearization based on differential flatness is presented. The analysis takes into consideration the tracking error equation and makes thereafter use of a stability result by Kelemen coupled with results issued from interval analysis. This turns exact feedforward linearization based on differential flatness into a general control methodology for flat systems.