The feedback linearization based on backstepping technique

Abstract

Feedback linearization technique is a relative mature design technique in nonlinear control system theory, the backstepping technique is a controller design technique which recently gets much favor. The feedback linearization based on backstepping technique is the combination of the two techniques mentioned, it uses backstepping design process, designs a sequence of ¿virtual¿ systems of relative degree one, reduces the relative degree by one by choosing a ¿virtual¿ input, achieves passivity with respect to a ¿virtual output¿, and the last ¿virtual output¿ is used to close feedback loop. The design process is distinct, and it can make both strictly feedback nonlinear system and pure feedback nonlinear system to linear system by feedback linearization, and the simulation result demonstrates the above conclusion.