Abstract
The design methods of nonlinear dynamic compensator using a nonlinear observer and feedback linearization are discussed in a class of nonlinear systems in which the states are not measurable. The state feedback linearization is not exact owing to the estimated states, but output feedback linearization is always exact if it exists. Furthermore, we consider a class of nonlinear systems in which a nonlinear dynamic compensator can be designed so that the resulting closed loop system contains linearized output relations. Our formulations are based upon canonical form representaions, which are useful in understanding the system structures including the controllability and observability [12, 18]. Finally, our design methods are demonstrated by a simple example.
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