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

Abstract EN

This paper considers the global practical output tracking problem by at least continuously differentiable ( C 1 ) 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 ( C 1 ) controller, but also provide explicit design schemes for such systems.

Finally, a numerical example demonstrates the effectiveness of the result.