Input/Output Linearization using Time Delay Control

Abstract

A nonlinear control procedure which uses Time Delay Control to achieve input/output linearization of a class of nonlinear systems is presented. The control system is characterized by a simple algorithm and enhanced robustness properties in comparison with current control algorithms. The paper first reviews the fundamentals of input/output linearization. The use of Time Delay Control is then shown to result in an exact linear system for sufficiently small delay time. It is also shown that robustness of the system is improved if the control input is filtered. Simulation results show that the algorithm works well with measurement noise.