Feedback Linearization

In order to briefly introduce the basic principle of the feedback linearizing control, consider the following Single Input Single Output (SISO) nonlinear model  

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Fig. 2. Control scheme for error feedback linear regulation...

The most general approach to model-based nonlinear control is the so-called Feedback Linearization (FL) [35], In fact, FL control approaches use the model of the plant to achieve a global linearization of the closed-loop systems, so as well-established linear controllers can be adopted for the globally linearized model. In... 

Since, in process control, input-output linearization techniques are usually preferred to state-space approaches, mostly due to the higher complexity of the latter, in the following, only input-output feedback linearization basic concepts are briefly reviewed. 

However, feedback linearizing control requires the knowledge of an accurate model of the process. Hence, in the presence of parametric model uncertainties, adaptive or robust control strategies have been proposed [4, 10, 18, 30] in [47], model uncertainties are tackled by adopting an Artificial Neural Network (ANN) in conjunction with different linearizing control strategies. 

In order to choice the entries of the gain matrices Kp and Kp, the output estimation error dynamics in its state-feedback linearized form is recalled this takes the following form ... 

Gandhi, F. Wang, K.W. and Xia, L. Magnethorheological fluid damper feedback linearization control for helicopter rotor application. Smart Mater. Struct., 10 (2001), pp. 96-103... 

Dynamic inversion (DI) control methodology is a member of feedback linearization control techniques and is applied to different types of aircraft applications (Reiner et al., 1995). In this technique the existing deficient or undesirable dynamics in the system are nullified and replaced by designer specified desirable d5mamics (Reiner et al., 1995 Ali and Padhi, 2009). This tuning of system dynamics is accomplished by a careful algebraic selection of afeedback function. Itis for this reason that the DI methodology is also called the feedback linearization technique. Details of feedback linearization and DI can be found in Marquez (2003). 

V Single-loop nonlinear extensions of PID controllers (e.g., gain-scheduling) or nonlinear model-based techniques like Generic Model Control (GMC) [13] or feedback-linearizing control [14] ... 

The performance of posture stabilization is increased by using dynamic feedback linearization methods (Struemper Krishnaprasad, 1997). 

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