Global output tracking for a class of multi-input multi-output nonlinear systems

This paper deals with the problem of the global output tracking for a class of multi-input, multi-output nonlinear systems that are globally linearisable via state feedback and coordinates transformation. The reference signals to be tracked by the output are produced by an external nonlinear generator (the exosystem). It is shown that, under certain sufficient conditions, the problem is solvable and, in such a case, a procedure for the design of a compensator is proposed. No minimum phase requirement is needed for applying the procedure