Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
HControl with Exact Linearization and its Application to Magnetic Levitation Systems
Toshiharu SUGIEKazunori SHIMIZUJun-ichi IMURA
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1993 Volume 6 Issue 1 Pages 57-63


This paper is concerned with robust controller design for a class of nonlinear systems. First, taking account of the nonlinearity of the systems, we propose a controller design method which consists of H robust control and exact linearization via nonlinear state feedback. The latter one is designed to yield the linear system which is exactly equal to the linear approximation model of the plant around an equilibrium point. Second, applying the proposed method to a simple magnetic levitation system, we illustrate the validity of our method by experiments.

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