Trajectory Following Method on Output Regulation of Affine Nonlinear Control Systems with Relative Degree not Well Defined

Abstract

The problem of output regulation of affine nonlinear systems with the relative degree not well defined by modified steepest descent control is studied. The modified steepest descent control is a dynamic feedback control which is generated by the trajectory following method. By assuming the system is minimum phase, output of the system can be regulated globally asymptotically.

Modification of a steepest descent control for output tracking of some class non-minimum phase nonlinear systems

“…In this paper, we will modify the steepest descent control for output tracking of a class non-minimum phase affine nonlinear system, where the relative degree of the system is not well defined. The modification is the addition of an input artificial of the steepest descent control which is different to the one in [11]. In this paper, we show that the modified steepest descent control can be applied to the unstable unforced system also.…”

“…To design a dynamic output feedback controller, then the system is required to be minimum phase with respect to a linear combination of the state variables. [11] has introduced a dynamic feedback control for the asymptotically stability of the minimum phase nonlinear system where unforced dynamic of the system is globally asymptotically stable. In this paper, we will modify the steepest descent control for output tracking of a class non-minimum phase affine nonlinear system, where the relative degree of the system is not well defined.…”