Abstract
AbstractThis paper considers the output tracking control of general‐form single‐input single‐output (SISO) nonlinear system, which may encounter the problem of division by zero (DBZ). First, via the Zhang dynamics (ZD) method, a ZD controller is proposed. Then, based on the ZD controller with the aid of gradient dynamics (GD) method, a Zhang‐gradient (ZG) controller is proposed. For comparison, the conventional input‐output linearization (IOL) controller is presented. The ZD, ZG and IOL controllers are compared in different relative‐degree cases (i.e., the standard relative‐degree case, the loose relative‐degree case and the DBZ relative‐degree case). Note that the ZG controller is valid in three relative‐degree cases, while the ZD and IOL controllers are valid only in the standard relative‐degree case and the loose relative‐degree case. In addition, performances of ZD and ZG controllers are guaranteed via theoretical analyses and computer simulations for the output tracking of general‐form nonlinear system with the DBZ problem conquered.
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