Structure of uncertainties in robust nonlinear control

As an effective design approach to nonlinear systems, feedback linearization has attracted a great deal of interest. But, it is difficult to guarantee robustness against parameter uncertainties in the original nonlinear system. The purpose of this paper is to propose a new concept on parameter uncertainties which can be entirely separated from linearization and be treated by robust control to assure the robustness in the original nonlinear system. To a class of nonlinear systems, the structure of such parameter uncertainties is derived. A practical example is presented to examine the result