Design of nonlinear compensators for nonlinear systems by an extended linearization technique

A disadvantage of nonlinear system design by linearization about a constant operating point is that the characteristics of the linearized closed-loop system will change with changes in the operating point. This paper introduces an approach to design of a nonlinear output-feedback controller such that the linearized closed-loop system has specified pole locations that are insensitive to changes in the closed-loop operating point to a specified order.