Tracking controllers for systems linear in the unmeasured states (Q1917130)

The authors consider single-input nonlinear systems that can be converted via global smooth state and measurement output transformations into the so-called extended strict feedback form. Unmeasured states enter the system equations in a linear (affine) fashion. For such systems, they present a procedure for constructing dynamic partial state feedback controllers that achieve the global asymptotic tracking of given reference trajectories while maintaining internal boundedness. The controller dynamic order is equal to the number of unmeasured states. To illustrate the design procedure, such a tracking controller is constructed for a nonlinear electromechanical rotor/platform system.