Experimental Verification of the Feedback Linearization Plant-Input-Mapping Discretization

The paper is concerned with the experimental verification of a digital redesign method for a class of nonlinear control systems, called the Feedback Linearization Plant-Input-Mapping (FL-PIM) method. The Plant-Input-Mapping provides the guaranteed stability in discretization of a linear feedback system for any non-pathological sampling interval. Our previous study shows that its possibility to integrate the feedback linearization law when some conditions satisfied. In the present study, we first simplify the structure of the FL-PIM controller to reduce the calculation cost. Then, the proposed FL-PIM method is verified through the experiment using a single-link elastic-joint robot.