NUMERICALLY GENERATED PATH STABILIZING CONTROLLERS - USE OF PRELIMINARY FEEDBACK

A hybrid open-loop closed-loop control strategy for path following con trol problems is introduced. It is based on a strategy due to Jankowsk i et al., but modified by a preliminary feedback. An analysis is done in the linear case showing when the preliminary feedback is needed and how to compute it. The extension to nonlinear systems is discussed. A nonlinear example is presented showing the necessity of preliminary f eedback. The approach is especially useful for complex nonlinear syste ms with high relative degrees.