Robust nonlinear control associating robust feedback linearization and H/sub /spl infin// control |
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Authors: | Franco A.L.D. Bourles H. De Pieri E.R. Guillard H. |
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Affiliation: | DAS/CTC, UFSC, Florianopolis, Brazil; |
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Abstract: | In this note, a robust nonlinear controller for a nonlinear system subject to model uncertainties is proposed. Such a controller associates a "robust feedback linearization" with a robust linear H/sub /spl infin// controller. The robust feedback linearization exactly transforms the nonlinear system into a linear system equal to the linear approximation of the original nonlinear system around a nominal operating point. The robustness of the resulting overall nonlinear controller is proved by theoretical arguments and illustrated through an application example, the control of a magnetic bearing system. |
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