Robust Stabilization of Differentially Flat Uncertain Nonlinear Systems

미분적으로 평활한 불확정 비선형 시스템의 강인 안정화

This paper describes a robust stabilization of single input nonlinear systems with parametric uncertainty. We first investigate differential flatness of the nominal nonlinear systems. If a single input system is differentially flat, it possesses a flat output. And we define coordinate transformation functions via successively differentiating the flat output, and we also consider the robust fictitious controls at every differentiation of the flat output. In the new coordinates the nonlinear system is transformed into the Brunovsky normal form with matched uncertainty. With a robust control based on the Lyapunov method, the robust stabilization is achieved.