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Feedback linearization in the presence of uncertainties
Author(s) -
Sastry S. S.,
Kokotovic P. V.
Publication year - 1988
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.4480020408
Subject(s) - control theory (sociology) , feedback linearization , adaptive control , linearization , parametric statistics , nonlinear system , diffeomorphism , mathematics , scheme (mathematics) , simple (philosophy) , mimo , degree (music) , computer science , control (management) , artificial intelligence , beamforming , mathematical analysis , philosophy , statistics , physics , epistemology , quantum mechanics , acoustics
After a brief review of feedback linearization, several approaches to the problem of parametric uncertainty are outlined, and the adaptive approach to both SISO and MIMO plants is discussed in detail. Based on experience with adaptive control of linear plants, two parameter update laws are chosen for nonlinear plants according to their relative degrees. The simpler of the two adaptive laws is applicable to plants with relative degree one. For plants with higher relative degree the adaptive scheme is more complex, but a simple update law can still be employed in the special case when the state diffeomorphism, required for linearization, does not depend on uncertain parameters. The simpler adaptive scheme is shown to be robust with respect to unmodelled dynamics.