For comparison purposes, Fig.10 dem

For comparison purposes, Fig.10 demonstrates the simulated step responses for both position and speed control. In the position control case, the step response is linearized to a 4th ITAE response. And for the speed control case, the step response is linearized to a 3rd order ITAE response. Clearly, in each case, the load-side output is identical to the required ITAE response, validating the feedback linearization with state feedback approach. The principal aim of the feedback linearization and state feedback scheme so far derived is to ensure that the optimized step response remains linear throughout the entire input range, but prior to pole-slipping. A plot of the step response error surface over the input range of interest is indicated in Fig.11. Perfect linearity is obtained for the entire input operating range, with load-side percentage step error between the linearized model and feedback linearized nonlinear model being identically zero throughout the entire range space. (Note all simulation results are obtained using Matlab/Simulink.)