Data-driven semi-global discrete-time nonlinear output tracking

A data-driven output tracking controller design method is proposed under the assumption the model of the plant is unavailable. For a class of discrete-time nonlinear plants satisfying some assumptions, first, an approximate solution of tracking equations is obtained from the state trajectory under a particular condition. Then, based on the approximate solution of the tracking equations, the state feedback controller containing the internal model of the periodic reference signal is designed to approximately achieve the output tracking. Because the controller is designed directly from data, complexity in building the model and modeling error are avoided.