Robust Feedback Linearization Control for a non Linearizable MIMO Nonlinear System in the Presence of Model Uncertainties

Abstract

During the last decades a considerable progress has been made in the design of stabilizing controllers for nonlinear systems with known and unknown model. Feedback linearization approach via coordinate transformation is considered to be useful to tackle the control problem. Usually however, feedback linearization control does not guarantee exact linearization and robustness in the presence of uncertainties. Meanwhile most of the results developed are applicable to single-input feedback-linearizable systems. In this paper in order to cope the model uncertainties of a non linearizable MIMO nonlinear system, a robust feedback linearization scheme based on Lyapunov function is proposed. To verify the validity and effectiveness of the designed method, the suggested technique is applied to a twin rotor system