An l/sub /spl infin/ Solution for Approximate Feedback Linearization

A numerical approach is studied for the approximate feedback linearization of nonlinear systems which fail to have the conditions for feedback linearization. Requiring derivatives of the system vector fields is a common procedure for solving this problem in most of previous work. We formulate this problem as an optimization problem. The evaluations of the system vector fields provide sufficient information for this approach. A tracking control law based on the resulting approximate system can be developed to control the original system.