earticle

영어

Because nonlinear systems have more complex behaviors than linear systems, it is hard to apply classical linear system theories and techniques to analyze and control nonlinear systems. So, to apply these theories and techniques, the feedback linearization method is used when the nonlinear system satisfies certain conditions. In the linearizing procedure, there exist infinite pairs of coordinates transformations and feedback controllers. The freedom in the exact linearization technique is used to improve the feedback system in some sense. So, by the switching control with the proper switching rule, we can obtain the better transient behavior than that of using one diffeomorphism. For many real processes, nonlinear systems have uncertainties. Because the linearizing method requires the accurate mathematical models of the system for the exact linearization, the uncertainties have an effect on stability of the nonlinear system. But, if we know the bounds of uncertainties, we can compensate the uncertainties based on the Lyapunov redesign technique. In this paper, we propose a switching rule for taking the transient behavior improvements in the case of uncertain time-varying nonlinear system.