Singular Perturbation Analysis for Trajectory Linearization Control

Trajectory linearization control (TLC) is a nonlinear control design method, which combines an open-loop nonlinear dynamic inversion and a linear time-varying feedback stabilization. Singular perturbation theory has been applied in TLC applications to simplify the design procedure. In this paper, TLC design for a general nonlinear system with singular perturbation is illustrated. The stability of such design is analyzed. The analysis is based on the Lyapunov second method and linear time-varying spectra theory, which belongs to Lyapunov first method. It provides a guideline to TLC design with singular perturbation.