Abstract
A control procedure that uses Time Delay Control to achieve input/output linearization of a class of nonlinear systems is presented. The control system is characterized by a simple algorithm and enhanced robustness properties in comparison with current control algorithms. The paper first reviews the fundamentals of input/output linearization. The use of Time Delay Control is then shown to result in an exact linear system for sufficiently small delay time. Modified controllers for systems with a low-pass filter are also investigated. Simulation results show that the algorithm works well with measurement noise. The controller is also tested on a single-link flexible arm to show the effectiveness of the simple algorithm in the control of complicated systems.
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