Global Output Tracking for Nonlinear Systems

Abstract

The well-known local results on output tracking makes it possible to control the state so that the output follows some desired path $y_d$ over some time interval $[t_0 ,t_0 + \varepsilon )$. These results have been extended to give global tracking, so that the output follows $y_d$ over a given interval $[t_0 ,t_1 ]$, for a class of systems that are sufficiently “observable.” An example is presented to illustrate how these results can be used to steer the state of the system from a given initial state to a desired final state.