Robust control of feedback linearizable system with the parameter uncertainty and input constraint

In this paper, a linear matrix inequality (LMI)-based robust combined control method, which is combined model predictive control (MPC) with the feedback linearization (FL), is presented for constrained nonlinear systems with parameter uncertainty. This scheme is designed in the following 3 steps: Polytopic description of nonlinear system with a parameter uncertainty via FL, Mapping of actual input constraint by FL, Optimization of the constrained MPC problem based on LMI. To verify the performance and usefulness of the control method proposed in this paper, some simulations with application to a flexible single link manipulator are performed.