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IMA Journal of Mathematical Control and Information 1990 7(4):351-360; doi:10.1093/imamci/7.4.351
© 1990 by Institute of Mathematics and its Applications
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Asymptotic Linearization of Multivariable Uncertain Systems

G. BARTOLINI and T. ZOLEZZI

Dipartimento di Informatica, Sistemistica, e Telematica, Università di Genova Via Opera Pia 11A, 16145 Genova, Italy
Dipartimento di Matematica, Università di Genova Via L. B. Alberti 4, 16132 Genova, Italy

The linearizing approach of Bartolini and Zolezzi (1988) is extended to multivariable control systems described by coupled scalar ordinary differential inclusions of varying orders that model deterministic uncertainty acting on the dynamics. A discontinuous feedback, based on the available states, is constructed by solving an inequality involving known bounds on the uncertain dynamics. Asymptotic equivalence to a prescribed linear time-invariant model is then proved via variable structure control methods. An application to a simple 2-joint manipulator is discussed in detail.


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