Control of nonlinear systems via feedback linearization and constrained model predictive control

초록

This paper combines the constrained predictive control with the feedback linearization to solve the control problem of a nonlinear systems with the constrained input. This combined approach consists of two steps: Firstly, the linearized model is obtained through feedback linearization. And secondly, constrained model predictive controller taking constraints on input into consideration is designed using the linearized model. Effectiveness of the combined approach and performance of tracking for nonlinear system subject to constraint on input are shown via simulation, where a comparison is done between two case of unconstrained input and constrained input in feedback linearization. As a test nonlinear model, a flexible single link robot system is used.