Optimal linear control for a class of nonlinear systems

A new optimal nonlinear feedback control law is presented, which is based on the differential geometric approach and linear control theory. By means of this control law and nonlinear change of coordinates, a class of nonlinear control systems can be reformed to a linear optimal and decoupling system. An angle control system of a mechanical arm driven by DC motor and another example are introduced. The results of digital simulation and analysis show that the new control method is feasible and these systems have exact linearization and optimal dynamic performance.