Abstract

A feedback controller is proposed to perform output reference tracking with prescribed performance for nonlinear continuous-time systems of relative degree two. The controller is of sampled-data type, i.e., measurements are available only at sampling times – a typical situation in real systems when sensors are involved. Furthermore, only output information is available, i.e., neither the full state nor derivatives can be used for feedback. A sufficient uniform sampling rate is derived and the control consists of piecewise constant signals on the sampling intervals, i.e., zero-order hold. Feasibility of the controller and satisfaction of the control objective are rigorously proven. The controller is illustrated by a numerical example.

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