Generalized Nonlinear Output-Feedback Canonical Form: Global Output Tracking

A global robust output feedback dynamic compensator is proposed for stabilization and tracking of a class of systems that are globally di eomorphic into systems which are in generalized output-feedback canonical form. This form includes as special cases the standard outputfeedback canonical form and various other forms considered previously in the literature. Output-dependent nonlinearities are allowed to enter both additively and multiplicatively. The system is allowed to contain uncertain nonlinearities satisfying certain bounds. Under the assumption that a constant matrix can be found to achieve a certain property, it is shown that a reduced-order observer and a backstepping controller can be designed to achieve practical stabilization of the tracking error. SuÆcient conditions under which asymptotic tracking and stabilization can be achieved are also obtained. For the special case of linear systems, the designed dynamic controller reduces to the standard reduced-order observer and linear controller. This is the rst global output-feedback tracking results for this class of systems.