Tracking Control for Discrete-Time Nonlinear Systems Using Piecewise Multilinear Models

Abstract

This paper proposes a tracking controller based on input-output feedback linearization for discrete-time nonlinear systems using a piecewise multi-linear (PML) model. In this paper, we construct the PML models for the error system of the tracking control. The input-output feedback linearization is used to transform each PML model into one linear system known as the Brunovsky canonical form. Thus, the whole PML system can be stabilized by a feedback linearized controller. An Example is shown to confirm the feasibility of our proposal by computer simulation.