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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . viii CHAPTER 1. INTRODUCTIOIN . . . . . . . . . . . . . . . . . . . . . . 1 1.1 Sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.2 Robust Feedback Linearization . . . . . . . . . . . . . . . . . . . . . . . 3 1.3 Application to Hydraulic System . . . . . . . . . . . . . . . . . . . . . . 5 1.3.1 Excavator Bucket Angle Control . . . . . . . . . . . . . . . . . . . 6 CHAPTER 2. SENSITIVITY . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.1 Parametric Sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.2 Initial Condition of Sensitivity States . . . . . . . . . . . . . . . . . . . . 11 CHAPTER 3. SENSITIVITY BASED ROBUST FEEDBACK LINEARIZATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 3.1 Feedback Linearization . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 3.1.1 Input-Output Linearization . . . . . . . . . . . . . . . . . . . . . 15 3.2 Sensitivity Dynamics of Nonlinear System . . . . . . . . . . . . . . . . . 16 3.3 Robust Control Design . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 CHAPTER 4. APPLICATION TO HYDRAULIC ACTUATORS . . . 21 4.1 Excavator Robust Design Process . . . . . . . . . . . . . . . . . . . . . . 21

Sensitivity-based robust feedback linearizing control of hydraulically actuated system