Input-Output Linearization: A Lyapunov Hidden State Analysis Performed on a DC-Motor Powered Electric Vehicle

This paper utilises feedback linearization to enable the linearization and state feedback stabilised control of an electric vehicle. Key features are centred around the development of a linearizing slip controller through input out feedback linearization. The key contribution is the hidden state stability being established through the stricter Lyapunov conditions for asymptotic stability of the zero hidden state dynamics. Braking performance guarantees are demonstrated through various detailed braking performance metrics such as drive current, distance performance, and braking speed analysis.