We propose the nonlinear feedback controller design based on the phase plane behavior. The controller is to minimize the difference of two vector fields: the nonlinear closed-loop vector fields and the stabilized closed-loop vector fields of linear approximation with linear controller. The stability of the controller is guaranteed by considering the Lyapunov function on the phase plane. In this paper, we show the design based on the phase plane behavior for multi-input system. Furthermore, we show the design method to improve the time response by having two valuation functions as application. The effectiveness is shown by simulation.
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