Brief Robustness analysis of exact feedforward linearization based on differential flatness

  • Authors:

  • Veit Hagenmeyer;Emmanuel Delaleau

  • Affiliations:

  • Institut für Systemdynamik und Regelungstechnik, Universität Stuttgart, Pfaffenwaldring 9, Stuttgart 70550, Germany;Department of Electrical Engineering, Northeastern University, 360 Hungtinton Avenue, Boston, MA 02115, USA

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2003

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Abstract

A methodology to analyze robustness with respect to parametric uncertainty for exact feedforward linearization based on differential flatness is presented. The analysis takes into consideration the tracking error equation and thereafter makes use of a stability result by Kelemen coupled with results issued from interval analysis theory.