Robust control for pseudolinear systems utilizing robust pole assignment controller, quasi-similarity transformation and an approximate feedback linearization

Abstract

This study elucidates a robust control scheme for pseudolinear systems that are subject to some uncertainties. Pseudolinear systems are nonlinear systems that are fully feedback linearizable. The system involves robust pole assignment (RPA) control, quasi-similarity transformation (QST), and approximate feedback linearization (AFL). First, using the results of exact feedback linearization (EFL), we obtained an AFL controller, which can transform a nonlinear system into an equivalent Taylor linear form. Second, a QST between EFL and AFL was constructed. Third, the robust controller, which combines the RPA controller, the QST, and the AFL controller is applied to a perturbed nonlinear system such that the closed-loop perturbed nonlinear system exhibited robust control properties. We use an example to demonstrate that the robust scheme is highly effective and that it is not influenced under limited parameter uncertainties and equilibrium point variants.