Feedback linearizing control of discrete-time nonlinear systems with constraints

Abstract

A feedback linearization strategy for discrete-time nonlinear systems subject to input constraints is developed and analyzed. The control system comprises: (i) a feedback linearizing controller; (ii) a constraint mapping algorithm that transforms the input constraints into constraints on the feedback linearized system; and (iii) a model predictive controller that regulates the resulting constrained linear system. The stability properties of the proposed control strategy are investigated for both completely and partially feedback linearizable systems.