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Feedback linearization via state transformation using estimated states

This paper deals with the exact feedback linearization of nonlinear plants using estimated states. Under appropriate hypotheses, exact linearization can be achieved through transformation of states and feedback. We assume that the states cannot be measured so that a nonlinear observer, with exponential convergence, is included in the loop. We establish sufficient conditions to guarantee that the overall system trajectories asymptotically converge to those obtained with feedback linearization utilizing the true states. We apply our results to control an electrical drive using a permanent-magnet synchronous motor without mechanical and optical sensors. The behaviour of our control scheme is illustrated by simulations.