Data-Based Control of Feedback Linearizable Systems
Mohammad Alsalti, Victor G. Lopez, Julian Berberich, Frank Allgöwer, Matthias A. Müller
Abstract
In this article, we present an extension of Willems' Fundamental Lemma to the class of multi-input–multi-output discrete-time feedback linearizable nonlinear systems, thus providing a data-based representation of their input–output trajectories. Two sources of uncertainty are considered. First, the unknown linearizing input is inexactly approximated by a set of basis functions. Second, the measured output data is contaminated by additive noise. Furthermore, we propose an approach to approximate the solution of the data-based simulation and output matching problems, and show that the difference from the true solution is bounded. Finally, the results are illustrated on an example of a fully actuated double inverted pendulum.