Abstract
The feedback linearization problem is one of the most important control problems for nonlinear systems. Yamada and Nitta propose a design method of approximate linearization method that can apply almost all multivariable nonlinear systems. However their approximate linearization method does not guarantee the stability of the closed control system even if the uncertainty of the plant does not exist. Furthermore the method by Yamada and Nitta does not consider the stability of the closed control system when the uncertainty of the plant exists. In this paper, we examine a design method for robustly stabilizing controllers for multivariable nonlinear systems to which the exact linearization method is not applicable.
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