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1、ControlandCyberneticsvol.36(2007)No.2AnapplicationoffeedbacklinearizationtothetrackingandalmostdisturbancedecouplingcontrolofnonlinearsystemwithuncertaintiesbyChung-ChengChen1,Yi-ChiehHuang2,Wen-JiunLin3Der-ChingShen1,Li-AnHuang11Dep.ofElectricalEngineering,Nationa
2、lFormosaUniversityNo.64,Wun-HwaRoad,Huwei,Yunlin,Taiwan,R.O.C.2Dep.ofElectricalEngineering,NationalTaiwanUniversityNo.1,Sec.4,RooseveltRoad,Taipei,Taiwan,R.O.C.3Dep.ofElectricalEngineering,I-ShouUniversityNo.1,Sec.1,Hsueh-ChengRd.,Ta-HsuHsiang,Kaohsiung,Taiwan,R.O.
3、C.Abstract:Thispaperstudiesthetrackingandalmostdistur-bancedecouplingproblemofnonlinearsystemswithuncertainties,basedonthefeedbacklinearizationapproach.Themaincontribu-tionofthisstudyistoconstructacontroller,underappropriateconditions,suchthattheresultingclosed-loo
4、psystemisvalidforanyinitialconditionandboundedtrackingsignalwiththefollow-ingcharacteristics:input-to-statestabilitywithrespecttodistur-banceinputsandalmostdisturbancedecoupling,i.e.,theinfluenceofdisturbancesontheL2normoftheoutputtrackingerrorcanbearbitrarilyattenu
5、atedbychangingsomeadjustableparameters.Twoexamples,whichcannotbesolvedbythefirstpaperontheal-mostdisturbancedecouplingproblem,areproposedinthispapertoexploitthefactthatthetrackingandthealmostdisturbancedecou-plingperformancesareeasilyachievedbytheproposedapproach.In
6、ordertodemonstratethepracticalapplicability,thepaperhasinvestigatedtheAMIRAballandbeamsystem.Keywords:almostdisturbancedecoupling,feedbacklineariz-able,differentialgeometryapproach,compositeLyapunovapproach.1.IntroductionTwowell-knowntasksofstabilizationandtrackinga
7、reimportanttopicsinthefieldofcontrol.Thetrackingproblemisgenerallymorecomplicatedthanthestabilizationproblemfornonlinearcontrolsystems.Manyapproachesfornon-linearsystemshavebeenintroduced,includingfeedbacklinearization,variable386Ch.-Ch.CHEN,Y.-Ch.HUANG,W.-J.LIN,D.-
8、Ch.SHEN,L.-A.HUANGstructurecontrol(slidingmodecontrol),backstepping,regulationcontrol,non-linearH∞control,internalmodelprincipleandH∞adaptivefuzz
