Luenberger-Like Observer-based Feedback Linearization with Robust Controller for Pseudolinear Systems

Abstract

This paper discusses an observer-based robust control scheme for perturbed pseudolinear systems, which is a nonlinear system that can fully feedback linearization. The aforementioned robust control scheme involves an observer-based input–output exact feedback linearization (EFL) controller, a robust feedback controller, and an observer. The gain of the robust feedback controller and the observer is a binomial coefficient-type gain. In addition, through an quasi-similarity transformation (QST), the robust control scheme is applied to an observer-based approximate feedback linearization(AFL) method. The state variables are estimated using a Luenberger-like nonlinear observer. The simulation results show that this robust control scheme provides good robustness to the system's parameter uncertainty and mode error and confirms that the QST between the AFL and EFL occurs correctly.