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An integral feedback linearization applied to an aeropendulum

Alves Uiliam Nelson Lendzion Tomaz, Breganon Ricardo, Mendonça Márcio, Palácios Rodrigo Henrique Cunha

Control and Cybernetics

2025

Vol. 54, No. 1

49--77

Aeropendulum systems are nonlinear systems, in which a motor-propeller assembly drives a rod. They are used for educational purposes and testing control laws in real systems. Feedback linearization is a nonlinear control technique that algebraically linearizes a plant’s dynamics via a feedback law and has been applied to various systems. This paper designs a feedback linearization control law incorporating an integrator into the control loop. The integrator enhances robustness in respect to constant disturbances, but alters the closed-loop dynamics, preventing it from following exactly the dynamics, associated with the desired characteristic roots under constant input. To address this, the integrator’s initial condition is treated as an additional variable, selected to ensure the expected closed-loop response. Finally, simulations and bench experiments on an Aeropendulum system validate the approach, demonstrating the integrator’s effectiveness in handling constant disturbances and the impact of selecting an appropriate initial condition.