Experimental feedback linearisation of a non

Input–output partial feedback linearisation is experimentally implemented on a non-smooth nonlinear system without the necessity of a conventional system matrix model for the first time. The experimental rig consists of three lumped masses connected and supported by springs with low damping. The input and output are at the first degree of freedom with a non-smooth clearance-type nonlinearity at the third degree of freedom. Feedback linearisation has the effect of separating the system into two parts: one linear and controllable and the other nonlinear and uncontrollable. When control is applied to the former, the latter must be shown to be stable if the complete system is to be stable with the desired dynamic behaviour