Robustness analysis of exact feedforward linearization based on differential flatness.
A method to analyze robust stability with respect to parametric uncertainty of exact feedforward linearization is presented. The method is applied in nonlinear systems with the differential flatness property. It could also be used in a given flat nonlinear system for which there already exists a stabilizing linear PID-like controller, and then one could combine a nonlinear nominal feedforward linearization based on differential flatness with this PID-like controller.
scientific article; zbMATH DE number 2032782
scientific article