This paper is concerned with the problem of robust output tracking of uncertain single-input and single-output nonlinear systems. Based on Lyapunov method and input/output linearization approach for nonlinear state feedback synthesis, a continuous state feedback controller is proposed. Compared with the controllers reported in the control literature, the controller proposed in this paper can guarantee exponential stability instead of uniform asymptotic stability for the trajectory error system of nonlinear systems with uncertainties.
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