Piecewise Multi-Linear Model Based Control for TORA System via Feedback Linearization

Tadanari Taniguchi, Michio Sugeno
This paper deals with a piecewise model based controller design for nonlinear systems via feedback lineariza-tion. The model is a piecewise multi-linear system and a nonlinear approximation. The approximated model is fully parametric. Feedback linearization is applied to stabilize PML (Piecewise Multi-Linear) control system. We apply the piecewise model based controller to TORA (Translational Oscillator with Rotating Actuator) system. Although the controller is simpler than the conventional
more » ... he conventional feedback linearization controller, the PML model based control can be applied to a wider region than the conventional one. Examples are shown to confirm the feasibility of our proposals by computer simulations.