Global Tracking via Output Feedback for Nonlinear MIMO Systems

In this note we present a constructive method for the design of global asymptotic tracking control for a class of MIMO nonlinear systems by output feedback. The class of systems considered is a special case of those in nonlinear observer form and coincides with the Output Feedback Form when there is only one input and one output. This approach generalizes a SISO method which uses filtered transformations and backstepping. The technique presented here may be useful in accommodating subsystem coupling in other MIMO design contexts. We demonstrate our method by example and observe several interesting features that distinguish it from the SISO case.