Optimal nonlinear controllers for feedback linearizable systems

R. A. Freeman*, P. V. Kokotovic

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

77 Scopus citations


We present a new class of controllers for dynamic feedback linearizable systems which achieve asymptotic tracking of given state reference trajectories. These controllers are characterized by a formula whose design parameters directly describe the trade-off between control effort and tracking error. For natural choices of these design parameters, this formula generates controllers which do not blindly cancel nonlinearities but rather counteract them only when they degrade the performance of the system. Furthermore, these controllers are optimal with respect to sensible performance criteria and therefore possess desirable robustness properties.

Original languageEnglish (US)
Pages (from-to)2722-2726
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - Jan 1 1995
EventProceedings of the 1995 American Control Conference. Part 1 (of 6) - Seattle, WA, USA
Duration: Jun 21 1995Jun 23 1995

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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