Continuous time Robust Fixed Point Transformations based control

The Robust Fixed Point Transformation based control proved to be beneficial in controlling nonlinear systems with structural or parametric discrepancies. The method was originally formalized in discrete time, using local deformations to alter the input trajectory in order to diminish the uncertainties. A continuous time counterpart is introduced in this paper, which also connects the method to the feedback linearization principle. Such a formalism should make it possible for one to use tools from the classical continuous time literature to analyse the properties and convergence of the method. The theory is demonstrated by controlling angiogenic inhibition of tumor growth using the minimal model.