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A neural approach for control of nonlinear systems with feedback linearization

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3 Author(s)
Shouling He ; Lehrstuhl fur Allgemeine und Theor. Elektrotech., Erlangen-Nurnberg Univ., Germany ; K. Relf ; R. Unbehauen

Several schemes for feedback linearization using neural networks have been investigated and compared. Then an approach to design a neurocontroller in the sense of feedback linearization is introduced. The contents include: (1) full input-output linearization when a system has relative degree n; (2) partial input-output linearization when a system has relative degree r (r<n); and (3) approximate linearization when the involutivity condition does not hold. Corresponding programs and examples are given to illustrate the proposed methodology

Published in:

IEEE Transactions on Neural Networks  (Volume:9 ,  Issue: 6 )