On the method of global linearization and motion control of nonlinear mechanical systems

The global linearization and control of nonlinear mechanical systems are studied. First, several approaches are developed to solve this problem: the Lyapunov method, variable structure control (VSC) with dynamic compensator (model reaching VSC), and optimal control. Previous important results on this topic are then reviewed. All the methods are compared. This comparison shows that, in all the methods, not only the structure of the linearized systems but also the control strategies are the same. This gives significant insight into the linearization approaches to nonlinear mechanical systems