Abstract: Robust tracking controller for a class of uncertain nonlinear dynamical systems, which are linearizable by input-output feedback with matching uncertainties, was investigated. In this study, uniform ultimate bound or uniformly asymptotic stability of tracking errors were obtained by different choice of the control gain. A simulation to determine the effectiveness of the proposed approach showed that the control performance was better than that of VSC (Variable Structure Control).

Key words: robust tracking control, uncertain nonlinear dynamical system, Lyapunov function

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