STATE FEEDBACK FOR CONTROL OF NONLINEAR SYSTEMS

This paper presents a new approach for a control law commonly used for the control of nonlinear systems of the form uxgxfx)() ( += &. An usual control law is based on the nth time-derivative of the reference signal. However, the implementation of the nth time-derivative of the error is also required and it may generates numerical problems. This paper shows that a simple linear state feedback can replace the original control law. It performs the same job and obtains equal results while avoid numerical problems