Some issues about FL and LAB servo control

Journal
IFAC-PapersOnLine
Date Issued
2023-07-01
Author(s)
Albertos, P.
Wei, C.
Scaglia, G.
DOI
Abstract
In this paper, the servo control design methodologies based on Feedback Linearization (FL) and Linear Algebra Based (LAB) are applied to nonlinear systems with and without zero dynamics, analysing the case of unstable zero dynamics. Their advantages and drawbacks are discussed. Some examples are developed to illustrate the results.
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