The class of strict-feedback systems enjoys special properties that make it similar to linear systems. This paper proves that such a class is equivalent, under a change of coordinates, to the wider class of feedback linearizable systems with multiplicative input, when the multiplicative terms are functions of the measured variables only.We apply this result to the control problem of feedback linearizable nonlinear MIMO systems with input and/or output delays. In this way, we provide sufficient conditions under which a separation result holds for output feedback control and moreover a predictor-based controller exists. When these conditions are satisfied we obtain that the existence of stabilizing controllers for arbitrarily large delays in the input and/or the output can be proved for a wider class of systems than previously known.
Output transformations and separation results for feedback linearizable delay systems
CACACE F;
2018-01-01
Abstract
The class of strict-feedback systems enjoys special properties that make it similar to linear systems. This paper proves that such a class is equivalent, under a change of coordinates, to the wider class of feedback linearizable systems with multiplicative input, when the multiplicative terms are functions of the measured variables only.We apply this result to the control problem of feedback linearizable nonlinear MIMO systems with input and/or output delays. In this way, we provide sufficient conditions under which a separation result holds for output feedback control and moreover a predictor-based controller exists. When these conditions are satisfied we obtain that the existence of stabilizing controllers for arbitrarily large delays in the input and/or the output can be proved for a wider class of systems than previously known.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
