Data-Based Control of Feedback Linearizable Systems

Mohammad Alsalti, Victor G. Lopez, Julian Berberich, Frank Allgöwer, Matthias A. Müller

Abstract: In this article, we present an extension of Willems' Fundamental Lemma to the class of multi-input–multi-output discrete-time feedback linearizable nonlinear systems, thus providing a data-based representation of their input–output trajectories. Two sources of uncertainty are considered. First, the unknown linearizing input is inexactly approximated by a set of basis functions. Second, the measured output data is contaminated by additive noise. Furthermore, we propose an approach to approximate the solution of the data-based simulation and output matching problems, and show that the difference from the true solution is bounded. Finally, the results are illustrated on an example of a fully actuated double inverted pendulum.