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A strategy to design exact nonlinear feedback controllers based on a recursive application of approximate linearization methods is examined. The computations are algebraic and computationally simpler than solving the set of coupled nonlinear partial differential equations thereby facilitating practical symbolic computer computations enabling discernment of evolving patterns in the approximate solutions as the order of approximation increases. Utilizing the null space that appears at each step in the computations as part of the computations, a family of analytic solutions can be generated asymptotically. There are possibilities for optimizing the performance by judiciously choice of analytic solution that emerge from the selective use of the null space.

An approach to exact nonlinear feedback control design employing recursive approximations and the null space