Abstract
The aim of this paper is to present a new method for the nonlinear controller design. The underlying theory evolves from the introduced transfer function of nonlinear systems, that can be used in similar way as transfer functions of classical linear systems. The presented algebra of transfer functions is the same as the linear one. Therefore, the controller design can follow the linear system synthesis. The paper shows, how to design a nonlinear PID controller using the direct method synthesis and also shows that the nonlinear state controller following the pole-placement method is equivalent to the exact linearization method. Since the presented method leads to results identical with the exact linearization method, it has been denoted as the exact velocity linearization method.
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