手法を比較

	フィードバック線形化	H-infinity制御 (H∞制御)
分野	制御理論	制御理論
系統	Machine learning	Machine learning
提唱年	1983	1981
提唱者	Alberto Isidori	George Zames
種類	algorithm	algorithm
原典	Isidori, A. (1995). Nonlinear Control Systems (3rd ed.). Springer-Verlag.	Zames, G. (1981). Feedback and optimal sensitivity: Model reference transformations, multiplicative seminorms, and approximate inverses. IEEE Transactions on Automatic Control, 26(2), 301-320.
別名	Exact Linearization, Nonlinear Feedback Control, Input-Output Linearization	H∞ Control, Robust Control, Minimax Control
関連	4	4
概要	Feedback Linearization is a nonlinear control technique that uses a nonlinear state-feedback transformation to convert a nonlinear system into a linear one, enabling the use of standard linear control methods. Developed by Isidori, Sontag, and others in the 1980s, feedback linearization is conceptually elegant and powerful: if the system satisfies certain structural conditions (relative degree, decoupling matrix rank), the nonlinearities can be exactly cancelled through feedback, reducing the problem to linear design.	H-infinity (H∞) control is a robust control method that minimizes the worst-case gain from disturbances to controlled outputs, formulated as a minimax optimization problem. Pioneered by Zames in the early 1980s, H∞ control provides a principled way to design feedback controllers that tolerate model uncertainty, unmodeled dynamics, and disturbances while maintaining stability and performance, making it essential for applications requiring guaranteed robustness.