## Dr. Ahmed G. Abo-Khalil

Electrical Engineering Department

## Feedback lineariza

Feedback linearization is a common approach used in controlling nonlinear systems. The approach involves coming up with a transformation of the nonlinear system into an equivalent linear system through a change of variables and a suitable control input. Feedback linearization may be applied to nonlinear systems of the form

egin{align}dot{x} &= f(x) + g(x)u qquad &(1)\ y &= h(x) qquad qquad qquad &(2)end{align}

where $x in mathbb{R}^n$ is the state vector, $u in mathbb{R}^p$ is the vector of inputs, and $y in mathbb{R}^m$ is the vector of outputs. The goal is to develop a control input

$u = a(x) + b(x)v,$

that renders a linear input–output map between the new input $v$ and the output. An outer-loop control strategy for the resulting linear control system can then be applied.

Monday 10 -2

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