Abstract
This paper is concerned with a stability analysis method for nonlinear systems which ane exactly linearizable. First, in order to obtain the non-conservative evaluation of the uncertainties, we show a modeling method of the structured uncertainty taking account of the nonlinear state feedback for exaet linearization. Then, based on this result, we give a sufficient stability condition of the dosed-loop systems which are obtained by using the exact linearization technique in the presence of parameter uncertainty. Finally, we apply this method to the trajectory tracking control of robot manipulators and evaluate its effectivenss by experiments.
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