Augments nonlinear system dynamics to capture state constraints before feedback linearization, using a switching controller to handle ill-defined relative degrees at boundaries, shown via numerical experiments.
Isidori, The zero dynamics of a nonlinear system: Fro m the origin to the latest progresses of a long successful story, Europea n Journal of Control 19 (5) (2013) 369–378
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Feedback Linearisation with State Constraints
Augments nonlinear system dynamics to capture state constraints before feedback linearization, using a switching controller to handle ill-defined relative degrees at boundaries, shown via numerical experiments.