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Nonlinear Control

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3 domain-specific abstractions whose origin domain is Nonlinear Control.

  • Feedback linearization — A nonlinear-control technique that uses state or output transformations and a compensating input law to cancel modeled nonlinearities and expose linear closed-loop dynamics.
  • Inertia wheel pendulum — An underactuated control-system model consisting of a pendulum with a motor-driven reaction wheel whose internal torque regulates the pendulum angle.
  • Lyapunov redesign — A nonlinear-control method that augments a nominal stabilizing feedback law using a known Lyapunov function to preserve stability under matched uncertainty.