Application of Input-Output Linearization

Abstract

In nature, most of the systems are nonlinear. But, most of them are thought as linear and the control structures are realized with linear approach. Because, linear control methods are so strong to define the stability of the systems. However, linear control gives poor results in large operation range and the effects of hard nonlinearities cannot be derived from linear methods. Furthermore, designing linear controller, there must not be uncertainties on the parameters of system model because this causes performance degradation or instability. For that reasons, the nonlinear control are chosen. Nonlinear control methods also provide simplicity of the controller (Slotine & Li, 1991).