Model-deviation compensation control based on the transformation of state

In this paper, a new model-deviation compensation control based on the transformation of state for a general nonlinear system with uncertainty is introduced. By using the concepts and theorems of differential geometry, the original system can be converted into the simplified form. Firstly, the problem and the simplified nonlinear system are described. Secondly, the process of the transformation of state is given, including the existence conditions and the mathematical expressions. Then the model-deviation compensation control is developed. It has the state-error correction term and the model-deviation compensation term besides the equivalent control term. Finally, the simulation results verify the effectiveness of the proposed controller.