Abstract
Abstract In this paper, we consider the problem of global feedback stabilization of a class of single input nonlinear systems. The system under consideration ia composed of a linear, and a triangular structured nonlinear parts. Furthermore, the linear part is in the form of the well known Brunovsky structure. In this article a control design methodology for such systems based on linear design techniques using some special transformations is proposed. Consequently, the proposed design is simple, systematic, and easy to implement. In addition, the paper addresses robustness properties of the proposed control law and possible extensions to the multi-input case. Finally, control problem for a flexible joint robot is used as an application example to show the design and performance of the proposed controller
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