Design of the High Gain Nonlinear Feedback Linearizing Control.

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Some results and a nonlinear controller are proposed for feedback linearizable SISO systems with unknown constant parameters. It is shown that the systems which satisfy the proposed conditions can be transformed into a controllable linear subsystem with unknown parameter and it can be stabilized using the high gain nonlinear feedback linearizing controller. As an example for the proposed theorem, we introduce the single link robot with joint flexibility which is an well known example.