抄録
If we apply the ordinary input-output linearization method to the “Ball and Plate System”, there appears singularity of the decoupling matrix at the origin. Due to this singularity, the control input diverges the origin. In order to solve this problem approximately, the approximate input-output linearization method proposed by Hauser et al. for nonlinear SISO systems is extened to MIMO system in this paper. It is shown under several applicable assumptions that the error and the state can be made bounded in the output tracking problem. Our method is applied to the “Ball and Plate System” for the case where the spin of the Ball is neglected. Two kinds of approximation method are proposed. Numerical simulations show the effectiveness of our method over the linear approximate approch.
