Dynamic inversion control for a class of pure‐feedback systems

Abstract

Abstract A dynamic inversion control method is proposed for a class of pure‐feedback nonlinear systems. By combing the back‐steeping control method with the singular perturbation theory, the virtual and the final actual control inputs are derived from the solutions of a series of fast dynamical equations. Stability analysis shows that the system output tracks the desired trajectory with bounded errors, which can be made arbitrarily small by choosing appropriate design parameters. Tracking performance is illustrated by simulation results. © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society