Decentralized filtered feedback linearization for uncertain nonlinear systems

Amir H. Ghasemi, Jesse B. Hoagg, T. M. Seigler

Research output: Contribution to journalArticlepeer-review

8 Scopus citations


This paper presents decentralized filtered feedback linearization (D-FFL), which is a decentralized controller for uncertain nonlinear systems with potentially unknown disturbance. Moreover, D-FFL uses only local-state feedback (or, in certain cases, local-output feedback) and local reference-model-input feedforward and requires limited model information. For sufficiently small initial conditions and sufficiently large choice of a scalar control parameter, D-FFL makes the L norm of the command-following error arbitrarily small.

Original languageEnglish
Pages (from-to)1496-1506
Number of pages11
JournalInternational Journal of Robust and Nonlinear Control
Issue number4
StatePublished - Mar 10 2018

Bibliographical note

Publisher Copyright:
Copyright © 2017 John Wiley & Sons, Ltd.


  • control with model uncertainty
  • decentralized control
  • feedback linearization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • General Chemical Engineering
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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