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Intelligent Engineering Systems through Artificial Neural Networks, Volume 16

Editor
Cihan H. Dagli
Cihan H. Dagli
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Anna L. Buczak
Anna L. Buczak
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David L. Enke
David L. Enke
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Mark Embrechts
Mark Embrechts
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Okan Ersoy
Okan Ersoy
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ISBN-10:
0791802566
No. of Pages:
1000
Publisher:
ASME Press
Publication date:
2006

In this paper, we examine a design method for robust stabilizing controllers for nonlinear systems that have an undesirable equilibrium point losing approximate feedback linearization. We adopt a three-step procedure to solve this problem. First, a state transformation matrix is determined, so that the nominal nonlinear system, of which that the equilibrium point is changed, is transformed approximately into the controllable canonical form. Then, the nonlinear system is divided into the controllable canonical representation section and the remainder. Second, the standard nonlinear feedback linearization method is used to transform the controllable canonical form into linear systems. Third, using quadratic stabilizing method, we can design robust stabilizing controllers.

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