ROBUST OUTPUT TRACKING FOR NONLINEAR UNCERTAIN SYSTEMS

摘要

The problem of robust output tracking for nonlinear systems in the presence of uncertainties is further studied by extending the results of Behtash (1990) to systems with mismatched uncertainties. A new design method which is called the Stable Combined Variable Perturbation Method (SCVPM) is proposed and a robust controller is presented using high-gain feedback. Our results are compatible with those of Behtash (1990) in a sense that the new controller will degenerate to the one of Behtash (1990) if the so-called generalized matching condition is satisfied. Simulation results verified the effectiveness of the newly proposed method and controller. [References: 6]