This paper addresses controller switching problem based on input-output linearization. In input-output linearization, controller switching is achieved by switching the time invariant linearizing outputs. The feature of this paper is to focus on keeping output zero via time-varying output to utilize an advantage of input-output linearization.
Time-varying process must be designed to connect two zero submanifolds with respect to time-invariant outputs smoothly so that once output zeroing is achieved, output zero is maintained during time-varying process. This paper provides the condition of time-varying output functions to keep output zero.
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