Tracking Control for Nonaffine Systems: A Self-Organizing Approximation Approach

This paper considers tracking control for single-input, single-output nonaffine dynamic systems. A performance-dependent self-organizing approximation-based approach is proposed. The designer specifies a positive tracking error criterion. The self-organizing approximation-based controller then monitors the tracking performance and adds basis elements only as needed to achieve the tracking specification. Even though the system is not affine, the approach is defined such that the approximated function is independent of the control variable u. Stability is proved and the self-organization is derived in a Lyapunov-based methodology. To illustrate certain novel aspects of the proposed controller, a numerical example is included.