A gradient descent control for output tracking of a class of non-minimumphase nonlinear systems

Abstract

In this paper we present a new approach to design the input control to track the output of a non-minimum phase nonlinear system. Therefore, a cascade control scheme that combines input–output feedback linearization and gradient descent control method is proposed. Therein, input–outputfeedback linearization forms the inner loop that compensates the nonlinearities in the input–output behavior, and gradient descent control forms the outer loop that is used to stabilize the internal dynamics. Exponential stability of the cascade-control scheme is provided using singular perturbation theory. Finally, numerical simulation results are presented to illustrate the effectiveness of the proposed cascade control scheme.