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Robust nonlinear control associating robust feedback linearization and H control

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4 Author(s)
A. L. D. Franco ; DAS/CTC, UFSC, Florianopolis, Brazil ; H. Bourles ; E. R. De Pieri ; H. Guillard

In this note, a robust nonlinear controller for a nonlinear system subject to model uncertainties is proposed. Such a controller associates a "robust feedback linearization" with a robust linear H controller. The robust feedback linearization exactly transforms the nonlinear system into a linear system equal to the linear approximation of the original nonlinear system around a nominal operating point. The robustness of the resulting overall nonlinear controller is proved by theoretical arguments and illustrated through an application example, the control of a magnetic bearing system.

Published in:

IEEE Transactions on Automatic Control  (Volume:51 ,  Issue: 7 )