{'fraction_non_alphanumeric': 0.02383654937570942, 'fraction_numerical': 0.0, 'mean_word_length': 5.25531914893617, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
A Study on the Plant-Input-Mapping Discretization for Nonlinear Control Systems Utilizing Feedback Linearization

This study attempts to extend a digital redesign method, called the Plant-Input-Mapping (PIM) method, to nonlinear control systems. The PIM method in the linear case can preserve the stability of the underlying continuous-time feedback control system without respect to the selection of the sampling interval. The PIM method is a model-based approach, and thus, the key of the extension scheme is to overcome the absence of the exact discrete-time model for nonlinear systems. In this paper, we propose a PIM method incorporating the feedback linearization. The proposed method can discretize the continuous-time controller designed by using the linearization technique, which is numerically verified through an example of a robotic manipulator with a flexible joint.