Abstract The problem of controlling nonlinear nonminimum-phase systems is considered, where standard input-output feedback linearization leads to unstable internal dynamics. This problem is handled here by using the observability normal form in conjunction with input-output linearization. The system is feedback linearized upon neglecting a part of the system dynamics, with the neglected part being considered as a perturbation. A linear controller is designed to accommodate the perturbation resulting from the approximation. Stability analysis is provided based on the vanishing perturbation theory.
Colin Neil Jones, Ye Pu, Andrea Alessandretti, Francisco Fernandes Castro Rego
Alireza Karimi, Mert Eyuboglu, Nathan Russell Powell