手法を比較

	フィードバック線形化	スライディングモード制御
分野	制御理論	制御理論
系統	Machine learning	Machine learning
提唱年	1983	1977
提唱者	Alberto Isidori	Vadim Utkin
種類	algorithm	algorithm
原典	Isidori, A. (1995). Nonlinear Control Systems (3rd ed.). Springer-Verlag.	Utkin, V. I. (1977). Variable structure systems with sliding modes. IEEE Transactions on Automatic Control, 22(2), 212-222.
別名	Exact Linearization, Nonlinear Feedback Control, Input-Output Linearization	SMC, Variable Structure Control, Robust Control with Discontinuities
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.	Sliding Mode Control (SMC) is a robust nonlinear control technique that forces a system to follow a predetermined surface (the sliding surface) in state space by using discontinuous (bang-bang or high-frequency switching) control inputs. Developed by Utkin and further advanced by Slotine, SMC is remarkably insensitive to parameter variations and disturbances—once the system reaches the sliding surface, its behavior is determined solely by the surface geometry, not by uncertainty. This makes SMC powerful for nonlinear systems, manipulators, and uncertain systems where robustness is paramount.