A new systematic design of high-gain feedback for nonlinear systems with unmatched uncertainties

The systematic design of a robust output tracking algorithm for a feedback linearizable system with unmatched uncertainties is presented. The proposed technique is based on a back stepping procedure to construct a time-varying singularly perturbed system and the underlying theoretical approach by the Lyapunov theory. The main result is that a dynamically parameterized state feedback is developed to cancel the output tracking error. Finally, an illustra- tive example through a chemical reactor system is given to demonstrate the utilization of the approach developed in this paper.