Theory and Substantiation of z0g1 Controller Conquering Singularity Problem of Output Tracking for a Class of Nonlinear System

Abstract

The conventional controller for output tracking of a class of nonlinear system is not valid when encountering the singularity (i.e., division-by-zero) problem. To conquer the singularity problem, Zhang et al. have proposed a simple yet effective controller design method, i.e., aiding the conventional controller with gradient dynamics (GD), yielding a z0g1 controller in the framework of Zhang-gradient (ZG) method. As an indepth research, this paper provides the theory and proof on the performance of this z0g1 controller, which is exploited to conquer the singularity problem while fulfilling the trackingcontrol task. Besides, simulations and experiments substantiate and complement the theoretical analyses of such a z0g1 controller.