Robust Observer-Based Piecewise Multi-Linear Controller Design for Nonlinear Systems

This paper proposes a robust observer-based piecewise multi-linear (PML) controller design using an observer linearization. The model is a nonlinear approximation and fully parametric. Feedback linearization is applied to stabilize the PML control system. However it is difficult to design the observer-based control system because the control system via observer linearization is not robust to modeling errors and perturbations. This paper shows the robust observer-based controller stabilizes TORA (Translational Oscillator with Rotating Actuator) system, which is one of the benchmark problem for nonlinear control. Examples are shown to confirm the feasibility of our proposals by computer simulation.