Robust nonlinear control associating robust feedback linearization and H sub( infinity ) control

• Published in: IEEE transactions on automatic control Vol. 51; no. 7
• Main Authors: Franco, ALD, Bourles, H, De Pieri, ER, Guillard, H
• Format: Journal Article
• Language: English
• Published: 01.01.2006
• Subjects: Approximation; Control systems; Dynamical systems; Feedback linearization; Linear systems; Nonlinear dynamics; Nonlinearity; Robustness
• ISSN: 0018-9286
• DOI: 10.1109/TAC.2006.878782

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 sub( infinity ) 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.