NOVEL METHODOLOGY FOR ROBUST OUTPUT TRACKING CONTROL OF NONLINEAR-SYSTEMS UNDER PARAMETRIC UNCERTAINTY

This paper presents a novel methodology for output tracking control of a class of single-input nonlinear systems in the presence of parametr ic uncertainty. Given a bounded tracking signal with bounded derivativ es, a dynamic nonlinear control law is designed for the minimum phase nonlinear system which results in asymptotical tracking of this signal by the output. This proposed control law is associated with the consi deration of modeling errors and disturbances to reduce the effects of system nonlinearities on the tracking trajectory. Under the conic boun ded condition being satisfied, it is shown that the high gain feedback strategy, that is, a design parameter epsilon is introduced in the co ntrol structure, can achieve the satisfactory performance. The propose d methodology is simply implemented through a simple tuning parameter for the output regulation of a CSTR.