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This paper presents a novel approach for controlling single-input, single-output nonlinear non-minimum phase systems using input-output linearization and output redefinition. The authors demonstrate that by redefining the output, the system can achieve local asymptotic stability and effective trajectory tracking, outperforming traditional LQR controllers. The technique is validated through simulations on a two-dimensional Segway model, showcasing its advantages in a larger region of attraction.

Author

mikethemonster999

Language

EN