http://www.sciencedirect.com/science/article/B6X3D-4V74VD0-3/2/745c06c619be3b3dfdb1eaa36b57cbbe
This thesis deals with the control of nonlinear systems governed by nonlinear state equations of the form =f(x)+g(x)u with state and input constraints, and subjected to model uncertainties. Classical linearization methods lead to adequate results when the model is accurate and the reference signals are well-conditioned and have low amplitude. However, this may not be the case for inputs such as large steps or w...
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