Abstract
This paper reports on two robust control methods for nonlinear systems based on decoupling theory.Given a plant described by a nonlinear state equation x= f(x) + g(x)u we design a linearizing feedback/decoupling law. Subsequently, for the resulting sub-systems we propose either an incremental fuzzy logic controller or a so. called ‘saturation element’ about an operating point. The emphasize is on the application and comparison of these methods.
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