Robust stabilization of approximately feedback linearizable time-varying systems with uncertainties using singular perturbation

We consider the robust stabilization of approximately feedback linearizable time-varying systems with uncertainties. By using high-gain feedback, we can transform the original system into the singularly perturbed system. Based on the Lyapunov stability theorem, we propose a new stabilizing controller by using singular perturbation and feedback linearization. The proposed method relaxes the conditions for feedback linearization and compensates the effect of uncertainties.