Control system design for nonlinear plants based on generalized H. S. Black formula using robust right coprime factorization

In this paper, operator based nonlinear control system design is studied by using robust right coprime factorization. Proposed control system does not guarantee perfect tracking, but upper bound of tracking error is estimated and a condition for the controller to reduce the error within an arbitrarily small bound is derived based on the generalized H. S. Black formula. A control system for a nonlinear plant with uncertainty is also discussed and upper bound of tracking error is derived. The effectiveness of the proposed control system is verified by numerical simulations for nominal and uncertain nonlinear plants.