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Dynamics of Underactuated Multibody Systems pp 55–111Cite as

Feedback Linearization and Model Inversion of Nonlinear Systems

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Part of the book series: Solid Mechanics and Its Applications ((SMIA,volume 205))

Abstract

Nearly all real world engineering systems comprise some type of nonlinearity. For output trajectory tracking of systems with continuous nonlinearities feedback linearization and feedforward control based on exact model inversion are powerful modern control techniques. This chapter provides an introductional representation of feedback linearization and model inversion. The goal is to present this topic in sufficient depth to understand the application of these concepts to underactuated multibody systems in the later chapters. In the first part of this chapter some important analysis and basic principles for nonlinear control of single-input single-output systems are developed. In the second part, output trajectory tracking using inversion-based feedforward control is presented. The extension to multiple-input multiple-output systems is predominantly straightforward and is summarized afterwards.

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  1. Institute of Engineering and Computational Mechanics, University of Stuttgart, Pfaffenwaldring 9, 70563, Stuttgart, Germany

    Robert Seifried

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  1. Robert Seifried
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Seifried, R. (2014). Feedback Linearization and Model Inversion of Nonlinear Systems. In: Dynamics of Underactuated Multibody Systems. Solid Mechanics and Its Applications, vol 205. Springer, Cham. https://doi.org/10.1007/978-3-319-01228-5_3

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  • DOI: https://doi.org/10.1007/978-3-319-01228-5_3

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