On Robust Approximate Feedback Linearization with Non-Trivial Diagonal Terms

Abstract

A problem of global stabilization of a class of approximately feedback linearized systems is considered. A new system structural feature is the presence of non-trivial diagonal terms along with nonlinearity, which has not been addressed by the previous control results. The stability analysis reveals a new relationship between the time-varying rates of system parameters and system nonlinearity along with our controller. Two examples are given for illustration.