title: A neural approach for control of nonlinear systems with feedback linearization.
abstract: In this paper several schemes for feedback linearization using neural networks have been investigated and compared. Then an approach to design a neurocontroller in the sense of feedback linearization is introduced. The contents include: 1) full input-output linearization when a system has relative degree n; 2) partial input-output linearization when a system has relative degree r (r < n); and 3) approximate linearization when the involutivity condition does not hold. Corresponding programs and examples are given to illustrate the proposed methodology.
authors.affiliation: Lehrstuhl für Allgemeine und Theoretische Elektrotechnik, Universität Erlangen-Nürnberg, 91058 Erlangen, Germany.
authors.forename: S
authors.initials: S
authors.lastname: He
authors.forename: K
authors.initials: K
authors.lastname: Relf
authors.forename: R
authors.initials: R
authors.lastname: Unbehauen