Nonovershooting output regulation for feedback linearisable MIMO systems

TL;DR

This paper develops a control design for feedback linearisable MIMO nonlinear systems that ensures nonovershooting tracking of linear reference signals, extending linear control methods to nonlinear systems with flexible convergence options.

Contribution

It introduces a novel control approach that achieves nonovershooting output regulation for feedback linearisable nonlinear systems, accommodating arbitrary initial conditions.

Findings

Successfully extends linear nonovershooting control methods to nonlinear systems.

Provides a design framework with adjustable convergence speed.

Ensures nonovershooting tracking for MIMO nonlinear systems with linear exosystems.

Abstract

We consider the problem of designing a state feedback control law to achieve nonovershooting tracking for feedback linearisable multiple-input multiple-output nonlinear systems. The reference signal is assumed to be obtained from a linear exosystem. The design method adopts known methods for the nonovershooting tracking of linear systems and extends them to the output regulation of feedback linearisable nonlinear systems. The method accommodates arbitrary initial conditions and offers design choice of the tracking convergence speed.