Robust Control Design Techniques for a Class of Nonlinear Systems

Abstract

We consider the design of robust stabilizing control laws for nonlinear systems which are equivalent under C <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sup> -state space coordinate transformations and nonlinear feedback to controllable linear systems. We are motivated by the problem of nonlinear control given simplified or uncertain system models. Assuming that certain structure matching conditions are satisfied between the plant and the model of the plant, we reduce the problem to that of stabilizing a perturbed linear system and discuss several design schemes that can be used to guarantee stability. An example of robust tracking for a robot manipulator is given.