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

Keylan Alimhan, Naohisa Otsuka, Abilmazhin A. Adamov, Maksat Kalimoldayev

2015

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DOI 10.1155/2015/932097

Data confidence 70 medium

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Abstract

This paper considers the global practical output tracking problem by at least continuously differentiable ( C1 ) 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 ( C1 ) controller, but also provide explicit design schemes for such systems. Finally, a numerical example demonstrates the effectiveness of the result.