Synthesis of robust controllers for nonsquare multivariable nonlinear systems

Input/output linearization via state feedback provides a convenient framework for designing controllers for multivariable nonlinear systems. However, in the presence of parametric uncertainty, this approach leads to inexact linearization as well as loss of decoupling. This could result in loss of performance and stability. In this paper, a controller design methodology is developed based on input/output linearization and multiobjective H/sub 2//H/sub /spl infin// synthesis that ensures robust stability and performance of nonsquare multivariable, nonlinear systems. This methodology is illustrated via simulation of a regulation problem in a continuous stirred tank reactor.