This paper addresses the output tracking problem of a class of nonlinear systems. Given input-output linearizability of the class of nonlinear systems, a robust output tracking controller derived via a Lyapunov-based approach is proposed. Here, the model uncertainties do not need to satisfy the conventional matching condition but states and tracking error remain bounded. Furthermore, the magnitude of the tracking error will bear dominant dependence on the magnitude of the mismatched uncertainties.
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Computer Science(all)
- Mechanical Engineering
- Electrical and Electronic Engineering