Input/output linearization using time delay control and time delay observer

1999 ◽  
Vol 13 (7) ◽  
pp. 546-556 ◽  
Author(s):  
Jeong W. Lee ◽  
Pyung H. Chang
Keyword(s):  
Time Delay ◽  
Input Output ◽  
Time Delay Control ◽  
Delay Control ◽  
Input Output Linearization

Input/Output Linearization Using Time Delay Control

1992 ◽  
Vol 114 (1) ◽  
pp. 10-19 ◽  
Author(s):  
K. Youcef-Toumi ◽  
S.-T. Wu
Keyword(s):  
Time Delay ◽  
Simple Algorithm ◽  
Current Control ◽  
Control Procedure ◽  
Input Output ◽  
Pass Filter ◽  
Low Pass Filter ◽  
Time Delay Control ◽  
Delay Control ◽  
Input Output Linearization

A control procedure that uses Time Delay Control to achieve input/output linearization of a class of nonlinear systems is presented. The control system is characterized by a simple algorithm and enhanced robustness properties in comparison with current control algorithms. The paper first reviews the fundamentals of input/output linearization. The use of Time Delay Control is then shown to result in an exact linear system for sufficiently small delay time. Modified controllers for systems with a low-pass filter are also investigated. Simulation results show that the algorithm works well with measurement noise. The controller is also tested on a single-link flexible arm to show the effectiveness of the simple algorithm in the control of complicated systems.

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