Tracking control of polynomic nonlinear systems

A computationally efficient tracking controller for polynomic nonlinear systems by a combined Volterra series and an extended Kalman filtering approach is presented. The developed state estimation approach is applied for the state estimation of the states of a pendulum model and the tracking control of the pendulum is accomplished by utilizing these estimates along with the internal model principle and the feedback linearization method. It is demonstrated that this approach is more computationally efficient as compared to the standard extended Kalman filtering approach and thus also leads to a computationally efficient control algorithm