Synthesis of Robust Control for a Class of Nonlinear Systems With Parametric Uncertainties Through Modified Input‐Output Linearization via Feedback With Linear‐Nonlinear Decomposition

The article describes an alteration of the traditional method of input‐output feedback linearization by applying a linear‐nonlinear decomposition of a system. The modified method makes it possible to obtain an equivalent linear model of the system in the presence of parametric uncertainties and disturbances. The theoretical fundamentals of the modification are presented, as well as its positive aspects and limitations. Some examples are included demonstrating the application of the modified method to second and third‐order systems in the presence of parametric uncertainties. Linear robust control devices are obtained by applying H∞ synthesis. Analyses about the nominal and robust stability and about the quality of the systems have been made. The transition processes of the original nonlinear and the linearized systems are graphically compared with the controls acquired.