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Summary This article proposes a novel robust feedback linearization control scheme for affine uncertain nonlinear systems subject to matched uncertainties and constraints on the control input. In this method, instead of placing the linearized system poles at exact locations, radial paths in the open left‐hand plane are selected to freely move the poles so as to enhance as much as possible the speed of response while guaranteeing satisfaction of input signal constraints. The stability of our proposed method is analyzed by means of the multivariable circle criterion and the Kalman‐Yakubovich‐Popov lemma. Simulation results demonstrate how the method significantly increases the speed of response compared to fixed pole placements.

In this article a novel soft variable structure control method is proposed to reduce the settling time of liner time-invariant multi-input systems with constrained inputs. The method is a generalized pole placement technique which extends the desired pole locations to radial pole paths to reduce settling time while satisfying input constraints. The control signal obtained by this method is soft and is therefore suited to industrial applications. The paper provides a test for the stability of the control system based on the multivariable circle criterion and the Kalman-Yakubovich-Popov lemma. Simulation results where the method is applied to an aviation example, and comparison with pole placement, demonstrate how the method significantly increases the speed of response in spite of the input constraints.

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