A Class Of Nonlinear Systems Feedback Linearization Method

This dissertation systematically studied the problem of feedback linearization design for nonlinear system. A typical multi-variable nonlinear system-MODEL750 gyroscope system is regarded as a controlled plant, and its mathematical model is obtained according its motion. The main results are as follows:(1) State feedback linearization and input-output decoupling linearization of differential geometry are analyzed and compared systematically. Relative-degree set of general nonlinear time-varying system is defined and input-output decoupling linearization is extended to general nonlinear time-varying system. The consistency of inverse system method based on function controllability and input-output decoupling linearization is obtained.(2) The mathematical model of MODEL750 system is analyzed, and feedback linearization design of the multi-variable nonlinear system is realized by input-output decoupling linearization method. Furthermore, the intelligent PID is introduced to improve control performance and robustness. Some simulation examples about tracking problem are given.(3) The intelligent PID based on input-output decoupling linearization is used successfully for practical MODEL750 system.The consistent results of simulation and practical application demonstrate the effectiveness of the proposed method.