Linganisha mbinu

	Udhibiti wa Kurudi Nyuma	Unyooshaji wa Maoni (Feedback Linearization)	Udhibiti wa Hali Telezeshi
Nyanja	Nadharia ya Udhibiti	Nadharia ya Udhibiti	Nadharia ya Udhibiti
Familia	Machine learning	Machine learning	Machine learning
Mwaka wa asili	1995	1983	1977
Mwanzilishi	Miroslav Krstic	Alberto Isidori	Vadim Utkin
Aina	algorithm	algorithm	algorithm
Chanzo asilia	Krstic, M., Kanellakopoulos, I., & Kokotovic, P. (1995). Nonlinear and Adaptive Control Design. John Wiley & Sons.	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.
Majina mbadala	Integrator Backstepping, Recursive Lyapunov Design	Exact Linearization, Nonlinear Feedback Control, Input-Output Linearization	SMC, Variable Structure Control, Robust Control with Discontinuities
Zinazohusiana	3	4	4
Muhtasari	Backstepping is a systematic nonlinear control design method that decomposes a complex nonlinear system into simpler subsystems and designs a controller recursively, layer by layer, ensuring stability at each step. Developed by Krstic, Kanellakopoulos, and Kokotovic, backstepping enables control of nonlinear systems without requiring exact model knowledge or full state linearization, combining flexibility with guaranteed stability.	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.