Abstract
The problem of robust output tracking for nonlinear systems in the presence of uncertainties is further studied by extending the results of Behtash (1990) to systems with mismatched uncertainties. A new design method which is called the Stable Combined Variable Perturbation Method (SCVPM) is proposed and a robust controller is presented using high-gain feedback. Our results are compatible with those of Behtash (1990) in a sense that the new controller will degenerate to the one of Behtash (1990) if the so-called generalized matching condition is satisfied. Simulation results verified the effectiveness of the newly proposed method and controller.
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