A new result on practically output tracking control of nonlinear systems that may not be linearizable at the origin

Alimhan, Keylan; Otsuka,

doi:10.1109/isict.2012.6291654

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2015

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“…The techniques from [11,14] were recently extended in [10,15] to the practical output tracking problem for nonlinear systems (1) by a continuous state feedback controller. However, from the practical point of view, the smoothness of the controllers is always desired because controllers at least 1 avoid the infinity controller gains around the origin and guarantee the uniqueness of the solution [16,17].…”

Section: Introductionmentioning

confidence: 99%

Global Practical Output Tracking of Inherently Nonlinear Systems Using Continuously Differentiable Controllers

Alimhan

Otsuka

Adamov

et al. 2015

Mathematical Problems in Engineering

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This paper considers the global practical output tracking problem by at least continuously differentiable ( 1 ) state feedback for a class of uncertain nonlinear systems whose linearization around the origin may contain uncontrollable modes. Based on utilizing the homogeneous domination approach, we not only propose conditions of constructing a global continuously differentiable ( 1 ) controller, but also provide explicit design schemes for such systems. Finally, a numerical example demonstrates the effectiveness of the result.

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