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Feedback Linearization

Feedback linearization is a nonlinear control design approach that transforms nonlinear system dynamics into linear ones through algebraic state transformations and feedback, allowing linear control techniques to be applied. This differs from conventional linearization using approximations. Applications include helicopters, aircraft, robots, biomedical devices, and vehicle control. However, there are limitations to the approach currently being researched.

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Mutaz Ryalat
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194 views4 pages

Feedback Linearization

Feedback linearization is a nonlinear control design approach that transforms nonlinear system dynamics into linear ones through algebraic state transformations and feedback, allowing linear control techniques to be applied. This differs from conventional linearization using approximations. Applications include helicopters, aircraft, robots, biomedical devices, and vehicle control. However, there are limitations to the approach currently being researched.

Uploaded by

Mutaz Ryalat
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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Feedback Linearization

Feedback linearization is an approach to nonlinear control design that has attracted lots of research in recent years. The central idea is to algebraically transform nonlinear systems dynamics into (fully or partly) linear ones, so that linear control techniques can be applied. This differs entirely from conventional (Jacobian) linearization, because feedback linearization is achieved by exact state transformation and feedback, rather than by linear approximations of the dynamics. The basic idea of simplifying the form of a system by choosing a different state representation is not completely unfamiliar; rather it is similar to the choice of reference frames or coordinate systems in mechanics. Feedback linearization = ways of transforming original system models into equivalent models of a simpler form. Applications: helicopters, high-performance aircraft, industrial robots, biomedical devices, vehicle control. Warning: there are a number of shortcomings and limitations associated with the feedback linearization approach. These problems are very much topics of current research. Terminology Feedback Linearization A catch-all term which refers to control techniques where the input is used to linearize all or part of the systems differential equations. Input/Output Linearization A control technique where the output y of the dynamic system is differentiated until the physical input u appears in the rth derivative of y. Then u is chosen to yield a transfer function from the synthetic input, v, to the output y which is: V s sr Ys1 () ( ) If r, the relative degree, is less than n, the order of the system, then there will be internal dynamics. If r = n, then I/O and I/S linearizations are the same. Input/State Linearization A control technique where some new output ynew = hnew(x) is chosen so that with respect to ynew, the relative degree of the system is n. Then the design procedure using this new output ynew is the same as for I/O linearization.
Nonlinear Process Model As discussed in previous chapters, there are several types of finite-dimensional, nonlinear process models. In this chapter, we will focus on continuous-time, state-space models of the form,

The main idea is: algebraically transform a nonlinear system dynamics into a (fully or partly) linear one, so that linear control techniques can be applied. I In its simplest form, feedback linearization cancels the nonlinearities in a nonlinear system so that the closed-loop dynamics is in a linear form

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