A controller design strategy for nonlinear systems with twomanipulated inputs and one controlled output is proposed. The techniqueis called “habituating control” as a result of itssimilarity to control schemes commonly used in biological systems. Anonlinear control law that provides input-output linearization whilesimultaneously minimizing the “cost” of affecting control isderived. The cost function employed differs according to the relativedegrees of the two inputs. Local stability analysis shows that thehabituating controller can provide a simple solution to the singularityand nonminimum phase problems. The method is evaluated using a nonlinearchemical reactor model
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