Robust Output Tracking Control of Mismatched Uncertain Nonlinear Systems

This paper addrsses the output tracking problem of a class of nonlinear srstems. Given input-output lineariability of the class of nonlinear system, a robust output tracking controller derived via a Lyapunov-based approach is proposed. Here, the model uncetainties do not need to satisfy the conventional matching condition but states and tracking error remain bounded. Furthermore, the magnitude of the tracking error will bear dominant dependance on the magitude of the mismatched uncertainties.