Controller design for point-to-point trajectory generation through feedback linearization of nonlinear control systems
PublisherUniversitat Politècnica de Catalunya
Rights accessOpen Access
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In this paper some of the most common methods of nonlinear control are explored, firstly introducing the theorems and mathematical background upon which they are built, and then exploring their results. Using a solved example to guide us throughout the process and finally simulating the outcome of applying our solution to the system.