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Studies have shown that feedback linearization can provide an effective controller for many types of nonlinear systems. It is known, however, that these controllers are not robust, in particular to model uncertainties. Recent work on sensitivity theory has shown that it can provide the least conservative design for robust feedback linearization. This is achieved by adjusting the control input to minimize...
This paper presents an integrated control-structure design methodology that is robust to parametric variations and its application to the design of combine header height control. Traditional design process of controlled multibody systems is sequential wherein the structural design is accomplished first followed by the control design. Such sequential process can only provide suboptimal overall design...
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