International Symposium on Nonlinear Theory and its Applications
Nonlinear Control Design via Formal Linearization of Polynomial Type Using Taylor Expansion
Kazuo Komatsu, Hitoshi Takata,
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This paper is concerned with a nonlinear feedback control problem. The purpose of this paper is to design a nonlinear feedback control for single input nonlinear systems, which is effective in wider region in state space, using a formal linearization method. A formal linearization function which is composed of polynomials is introduced, and then a given nonlinear system is transformed into an augmented bilinear system with respect to a formal linearization function. In order to linearize it, we exploit the ordinary LQ control technique which is derived by a linearization of Taylor expansion truncating at the first order. As a result, we synthesize a nonlinear feedback control for the given nonlinear system by applying a linear system theory. Numerical experiments are illustrated to show effectiveness of this method.