Abstract
This paper proposes a systematic approach for robust tracking control design of a class of nonlinear systems, refered to dynamic flat systems. First, a nonlinear dynamic feedback is designed to ensure nominal path tracking performance. Next, a compact set of models is elaborated in the vicinity of the nominal path, taking into account both state space disturbances and parametric uncertainties. Finally, a robust linear controller is designed which guarantees the path tracking perfomance objectives for the above so-obtained compact set. Simulations results obtained from speed control of a synchronous actuator demonstrate the potential of the proposed approach.
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