Indirect methodThe indirect method of control leverages Lyapunov's indirect method to provide stable control of a non-linear system. In a nutshell the nonlinear system is linearized about an equilibrium point and linear control principles are applied. This provides OK control for local regulated control, but breaks down for highly non-linear problems. In order to determine the coefficients of the feedback gain matrix K, one can employ Ackermann's formula to solve the system A-BK such that the eigen-values match pre-selected quantities. A more robust method is found in this discussion.
Local stabilization with linear state feedbackLocal stabilization with linear output feedbackLocal output regulation with linear state feedback via integral controlLocal output regulation with linear output feedback via integral control | 