An internal equilibrium manifold method of tracking for nonlinear nonminimum phase systems

A new nonlinear controller for nonlinear nonminimum phase systems is described. The design is based upon an “internal equilibrium manifold”, a submanifold embedded in the state space. By controlling the state of the system to remain in a neighborhood of the submanifold, tracking with bounded error is achieved for an open set of output trajectories. The controller provides a significantly extended region of attraction over linear regulators. Regulation and tracking for the inverted pendulum on a cart demonstrates the control scheme