Abstract
A class of MIMO nonlinear system with measurable disturbance is studied in this paper. Based on the relative degree concept of the nonlinear system in differential geometry theory, the relative order vector of measurable disturbance of MIMO nonlinear system is defined. And a nonlinear feedforward / state feedback transformation law is proposed which can eliminate the effect of measurable disturbance on the output of the system largely or completely, transforming the nonlinear system into a linear closed-loop system, providing favorable conditions external controller design. In addition, the application range of the feedback linearization transformation law and the specific requirements of the exact linearization are analyzed in detail in this paper. Finally, simulation examples are given to demonstrate the effectiveness of the transformation law.
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