关键词: 非线性, 多输入, 前馈/反馈, 线性化

Abstract: The problem of transforming nonlinear systems with multi-input and input disturbances to their linear equivalents is investigated. A characterization of the class of nonlinear systems with disturbances that are equivalent to controllable quasi-linear systems with disturbances, z =Az + Bv + P(z)d, is given. The necessary transformations (changing state space coordinate and control input-space coordinate by nonlinear feedforward and feedback)are presented and their implications for control system synthesis are discussed. Finally, a numerical example is given.

Key words: nonlinear, multi-input, feedforward/feedback, linearization