Global practical output tracking of inherently nonlinear systems using continuously differentiable controllers (Q1666983)

Summary: 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.