Abstract
The problem of global robust output tracking is solved for a class of uncertain nonlinear systems with nonlinear parameterization using output feedback. The technique proposed extends the existing output tracking results to a wider class of nonlinear systems without the use of an internal model. By increasing a single parameter in the controller, the tracking error can be arbitrarily reduced. The controller also guarantees the boundedness of the internal states. Due to the triangular structure of the system, the controller design is based on the backstepping technique.
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