Input/Output linearization via state feedback provides a convenient framework for designing controllers for multivariable nonlinear systems. However, in the presence of parametric uncertainty, this approach leads to inexact linearization as well as loss of decoupling. This could result in loss of performance and stability. In this paper, a controller design methodology is developed based on Input/Output linearization and multiobjective H2/Hm synthesis that ensures robust stability and performance of nonsquare multivariable, nonlinear systems. This methodology is illustrated via simulation of a regulation problem in a continuous stirred tank reactor.

Date of creation, presentation, or exhibit



Proceedings of the American Control Conference, Arlington, VA, June 25-27, 2001 Note: imported from RIT’s Digital Media Library running on DSpace to RIT Scholar Works in February 2014.

Document Type

Conference Proceeding

Department, Program, or Center

Computer Engineering (KGCOE)


RIT – Main Campus