Sliding mode variable structure control based on exact linearization mode of nonlinear system

Exact linearization is a traditional method for nonlinear system in the nonlinear system theory, the basic idea of which is to linearize the whole or parts of a nonlinear system using nonlinear coordinate transformation and nonlinear state feedback method. The input-output relationship of the nonlinear system can be represented by a linearized model which can be built using linear system design method. In order to enhance the robustness of an established system which has been linearized via feedback method, the robust control strategy should be adopted. As a result, the control law is composed of feedback linearization control and robust control. Sliding mode variable structure control is a robust control method which is proposed in this paper as a robust control strategy for the exact linearization system.