GLOBAL OUTPUT TRACKING FOR INHERENTLY NON-LINEAR SYSTEMS BY CONTINUOUS STATE FEEDBACK CONTROLLERS

Abstract

This paper considers the global practical tracking problem by state feedback for a class of high-order non-linear systems with more general uncertainties, to which the existing control methods are inapplicable. We successfully propose a new tracking control design scheme for the system studied by introducing sign function and necessarily modifying the method of adding a power integrator. It is shown that the designed controller guarantees that all states of the resulting closed-loop system are globally bounded and the tracking error remains prescribed arbitrarily small after a finite time.