IEEE Transactions on Automatic Control, Vol.40, No.6, 1118-1122, 1995
Asymptotic Tracking and Disturbance Rejection in Uncertain Nonlinear-Systems
A state feedback dynamic controller is constructed to achieve asymptotic tracking and disturbance rejection for a class of nonlinear systems regardless of certain plant uncertainties, This controller is based on kth-order robust control law introduced in [1] and features what is called the internal model principle in the linear literature, The result extends the robust linear servomechanism theory to the nonlinear setting.
Keywords:SERVOMECHANISM PROBLEM