An asymptotic output tracking problem for a nonlinear control system with fewer outputs than inputs

Abstract

An asymptotic output tracking problem is studied for a class of nonlinear control systems with fewer outputs than inputs. The development is based on a standard relative degree assumption. The most interesting feature of the development is that the extra control degrees of freedom can be used to influence the closed loop characteristics, including the zero dynamics. Conditions are developed for when this approach is successful. >