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(6.67).
Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

)‫ خطیسازي فيدبک‬:6 ‫ طراحی سيستمهاي کنترل غيرخطی (فصل‬:‫بخش دوم‬

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

The following Theorem indicates that:

provided that the zero-dynamics is asymptotically stable, this
Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

control law indeed stabilizes the whole system locally.

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)‫ خطیسازي فيدبک‬:6 ‫ طراحی سيستمهاي کنترل غيرخطی (فصل‬:‫بخش دوم‬

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Remark:
Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

)‫ خطیسازي فيدبک‬:6 ‫ طراحی سيستمهاي کنترل غيرخطی (فصل‬:‫بخش دوم‬

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

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Remarks:
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Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University
(Back Stepping)
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)‫ خطیسازي فيدبک‬:6 ‫ طراحی سيستمهاي کنترل غيرخطی (فصل‬:‫بخش دوم‬

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

This recursive idea is known as:

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Back Stepping Method

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Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

)‫ خطیسازي فيدبک‬:6 ‫ طراحی سيستمهاي کنترل غيرخطی (فصل‬:‫بخش دوم‬

( Based on Example 3.14)

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Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Application
Zanjan University
of the invariant
Zanjan University
set theorem (Theorem 3.5)
Zanjan University
shows that this Zanjan
Zanjan University
choice of v
University

brings the whole system state to zero.

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Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

)‫ خطیسازي فيدبک‬:6 ‫ طراحی سيستمهاي کنترل غيرخطی (فصل‬:‫بخش دوم‬

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

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Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

)‫ خطیسازي فيدبک‬:6 ‫ طراحی سيستمهاي کنترل غيرخطی (فصل‬:‫بخش دوم‬

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

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Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Application of the invariant set theorem then shows that this choice
of v sgnirb the whole system state to zero .
The original control input u can then be computed from v:

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

)‫ خطیسازي فيدبک‬:6 ‫ طراحی سيستمهاي کنترل غيرخطی (فصل‬:‫بخش دوم‬

The simple pole-placement controller of Theorem 6.3 can be

extended to asymptotic tracking control tasks.
Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Consider, for system (6.67), the problem of tracking a given desired

trajectory yd(t).

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

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Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

)‫ خطیسازي فيدبک‬:6 ‫ طراحی سيستمهاي کنترل غيرخطی (فصل‬:‫بخش دوم‬

Remarks:
Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

(Generalization of linear case).

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

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Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

)‫ خطیسازي فيدبک‬:6 ‫ طراحی سيستمهاي کنترل غيرخطی (فصل‬:‫بخش دوم‬

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

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Remarks:

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

)‫ خطیسازي فيدبک‬:6 ‫ طراحی سيستمهاي کنترل غيرخطی (فصل‬:‫بخش دوم‬

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

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The concepts used in the above sections for SISO systems, such as
input-state linearization, input-output linearization, zero-dynamics,
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and so on, can be extended to MIMO systems.

Remarks:
In the MIMO case, we consider, in a neighborhood of a point xo,
square systems (i.e., systems with the same number of inputs
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and outputs) of the form

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University
f and h are smooth vector fields, and G is a nxm matrix whose columns are smooth
vector fields gi.

)‫ خطیسازي فيدبک‬:6 ‫ طراحی سيستمهاي کنترل غيرخطی (فصل‬:‫بخش دوم‬

Input-output linearization of MIMO systems is obtained similarly to the

SISO case, by differentiating
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the outputs y until the
Zanjan University i
inputs appear.
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Assume that ri is the smallest integer such that at least one of the
inputs appears in yi(ri) then

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Performing the above procedure for each output yi yields:

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Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

)‫ خطیسازي فيدبک‬:6 ‫ طراحی سيستمهاي کنترل غيرخطی (فصل‬:‫بخش دوم‬

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

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v Feedback linearization is based on the idea of transforming nonlinear

dynamics intoZanjan
Zanjan University
a University
linear form Zanjan
by University
using state Zanjan
feedback,
University
with input-state
Zanjan University

linearization corresponding to complete linearization and input-

output linearization to partial linearization.
v The method can be used for both stabilization and tracking control
problems, SISO and MIMO systems, and has been successfully applied to
a number of practical nonlinear control problems, both as an system
analysis
Zanjan University tool and as a controller
Zanjan University Zanjandesign
University tool. Zanjan University Zanjan University

The method also has a number of important limitations:

1. it cannot be used for all nonlinear systems
2. the full state has to be measured
3. no robustness
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is guaranteedZanjan
Zanjan University
in University
the presenceZanjan
of University
parameter uncertainty
Zanjan University

or unmodeled dynamics

)‫ خطیسازي فيدبک‬:6 ‫ طراحی سيستمهاي کنترل غيرخطی (فصل‬:‫بخش دوم‬

Active research is being performed to overcome the mentioned

drawbacks.
v For the first problem, research is aimed at extending feedback
linearization Zanjan
Zanjan University
to University
non-minimum phase or weakly
Zanjan University
non-minimum
Zanjan University
phase
Zanjan University

systems.
v For the second problem, many efforts are being made to construct
observers for nonlinear systems and to extend the separation principle
to nonlinear systems.
v Zanjan
For the third
University
problem, robust
Zanjan University
and adaptive
Zanjan University
control are
Zanjan University
being
Zanjan University

introduced to provide feedback linearizable systems with robustness to

parametric uncertainties.

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Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

Zanjan University Zanjan University Zanjan University Zanjan University Zanjan University

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