© 2017 In this paper, a structural feedback linearization technique is proposed. This is a quite simple and effective linear control scheme based on failure detection techniques. Our proposed linear control approach is intended to reject the nonlinearities, which are treated as failure signals affecting the systems dynamics. The proposed control methodology is illustrated via the attitude control of a quadrotor in hover flying.
Blas, L. A., Bonilla, M., Malabre, M., Azhmyakov, V., & Salazar, S. (2017). Structural feedback linearization based on nonlinearities rejection. IFAC-PapersOnLine, 922-927. https://doi.org/10.1016/j.ifacol.2017.08.090