Tracking controllers for systems linear in the unmeasured states

  title={Tracking controllers for systems linear in the unmeasured states},
  author={R. A. Freeman and Petar V. Kokotovic},
We introduce a class of extended strict feedback nonlinear systems in which unmeasured states enter the system equations in a linear (affine) fashion. For such systems, we present a procedure for constructing dynamic partial state feedback controllers that achieve the global asymptotic tracking of given reference trajectories while maintaining internal boundedness. The controller dynamic order is equal to the number of unmeasured states. To illustrate our design procedure, we construct such a… CONTINUE READING
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