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Application of feedback control in nonlinear systems is an area of active research. Control algorithms utilising Lyapunov methods, Describing Functions, backstepping etc. are some of the approaches being explored. Feedback Linearisation, which effectively renders the nonlinear system exactly linear through the application of nonlinear feedback, is another approach that has been investigated. Many publications presenting analytical, numerical and also experimental findings have emerged. Much of this work addresses systems with smooth nonlinearities, often described by a polynomial function. The underlying theory of feedback linearisation is well-defined for such systems and is readily available through classical texts and also other publications. For non-smooth systems, however, the applicability of the method is not quite as obvious. The present work aims to demonstrate that at least for a subset of non-smooth systems, the theory of feedback linearisation holds soundly. Successful application of the method in closed-loop control is demonstrated through a numerical example.

nonlinear, control, feedback linearisation, non-smooth