Robust Feedback Linearization for Minimum Phase Systems

Abstract In this paper, synthesis of robust feedback linearization procedure for nonlinear systems with stable zero dynamics is explored employing robust exact observer for estimation of the states as well as drift terms simultaneously on the basis of just available output of the system. The detail knowledge of the mathematical model of the system is no more crucial. Finite time convergence of the complete closed loop system is proved and thus a form of separation principle is satisfied i.e., the controller and observer can be designed separately. The simulation results verify robustness as well as performance of the proposed technique.

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