Approximate linearization of uncertain nonlinear systems by means of continuous control

A novel proposal for the solution of the asymptotic linearization of an uncertain nonlinear systems problem by means of the continuous control law is presented. The main feature of this approach consists of the use of a continuous first-order estimator and of control laws with piecewise continuous derivatives. This theory makes it possible to deal easily with the case of a nonlinear nonaffine control system and some frequently encountered nonmatching uncertainties.<
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