Singularly perturbed feedback linearization for SISO nonlinear systems with measurement of the state

In this paper, a feedback linearization technique is proposed. Input-output feedback linearization is applied to the nonlinear model to make it linear. The controller of the linearized model is designed by linear control theory. We consider that the state is measured. The tracking control law is based on pole placement and regular perturbations techniques. The proposed control scheme is illustrated on a numerical example and gives satisfactory results.