Control of Uncertain Nonlinear Fully Linearizable Systems

This chapter proposes a hybrid control scheme for fully linearizable nonlinear systemsNonlinearsystem, subject to uncertaintyUncertainty. Adopting a hybrid dynamic framework allows providing LMI-based tools for designing a sampled-dataSampled-data feedback controller whose internal state comprises the held value of the plant input. This controller state is discretely updated at exactly the classical linearizing control law, which is held constant during the continuous evolution of the closed loop. The updates happen at suitably triggered jumps, whose triggering rules stem from two different Lyapunov-based sets of inequalities, the first one ensuring robust in-the-small stability properties and the second one ensuring more desirable robustnessRobustness in-the-large. Simulation results illustrate the effectiveness of the proposed hybrid control scheme.