Feedback linearization of nonlinear systems using multi-diffeomorphism

Abstract

In this thesis, nonlinear systems are controlled by the feedback linearization method. The feedback linearization method is that it can use the various linear method because this method is to transform the nonlinear system dynamics into equivalent linear systems. The freedom in the exact linearization technique is possible to improve the feedback system in some sense by using the freedom in linearization. How to use the freedom and the transient behavior improvement in the presence of impulsive disturbance is presented. That is, feedback linearizable system has various diffeomorphisms that the transient behavior improvement exist each other. So, If we can make trajectory that has the transient behavior improvement for each diffeomorphisms, the control of system is improved more than that using one diffeomorphisms. In this thesis, we propose a switching rule for taking the transient behavior improvement for each diffeomorphisms.