Output tracking control of nonlinear systems with mismatched uncertainties

Teh Lu Liao, Li Chen Fu, Chen Fa Hsu

Research output: Contribution to journalArticlepeer-review

52 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)39-47
Number of pages9
JournalSystems and Control Letters
Issue number1
Publication statusPublished - 1992 Jan

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Computer Science(all)
  • Mechanical Engineering
  • Electrical and Electronic Engineering


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