Input/Output Linearization Using Time Delay Control

[+] Author and Article Information
K. Youcef-Toumi, S.-T. Wu

Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139

J. Dyn. Sys., Meas., Control 114(1), 10-19 (Mar 01, 1992) (10 pages) doi:10.1115/1.2896491 History: Received September 19, 1990; Revised May 22, 1991; Online March 17, 2008


A control procedure that 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. Modified controllers for systems with a low-pass filter are also investigated. Simulation results show that the algorithm works well with measurement noise. The controller is also tested on a single-link flexible arm to show the effectiveness of the simple algorithm in the control of complicated systems.

Copyright © 1992 by The American Society of Mechanical Engineers
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