Feedback linearisation of nonminimum singular systems

The paper presents a solution for feedback linearisation of a class of nonl inear systems which have singularity and nonminimum phase. Traditionally, t hese two problems have been mentioned as shortcomings of standard feedback linearisation. In the proposed scheme, purposely introduced uncertainty und er the matching condition yields stabilisable linear systems with vanishing perturbed terms. With additional Lyapunov-based control terms, the conside red system is shown to be exponentially stabilised. Finally, an illustrativ e example for the regulation problem is provided.