Analysis of feedback vs. Jacobian linearization approaches applied to robust LQR control of 2DoF bicycle robot model

The paper compares application of Jacobian- and feedback-linearized models to control a nonlinear bicycle robot model. It includes simulation results of performance improvement in the case of weighting matrices and initial condition changes, including the analysis of energy-based indexes. In addition, the results also include comments concerning introduction of robustness to the control system.