Pole Path Assignment of Constrained SISO Affine Nonlinear Systems

  • M. KaheniEmail author
  • M. Hadad Zarif
  • A. Akbarzadeh Kalat
  • M. Sami Fadali
Research Paper


This paper proposes a feedback linearization control scheme for affine nonlinear systems with a constrained control signal where a fast response is required. Instead of placing the linearized system poles at exact locations, ray-like paths in the left hand plane are selected where the poles can freely vary to efficiently exploit the admissible input signal range to increase the speed of response. A stability test for the proposed method is derived via the multivariable circle criterion and the Kalman–Yakubovich–Popov lemma. Simulation results demonstrate how the method significantly increases the speed of response in spite of the input constraints compared to fixed pole placement.


Desired pole path Feedback linearization Nonlinear control Variable structure control Time optimal control 


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Copyright information

© Shiraz University 2019

Authors and Affiliations

  1. 1.Department of Electrical Engineering, Faculty of Electrical Engineering and RoboticsShahrood University of TechnologyShahroodIran
  2. 2.Electrical and Biomedical Engineering DepartmentUniversity of Nevada RenoRenoUSA

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