Singularity-conquering ZG controller for output tracking of a class of nonlinear systems

Both Zhang dynamics (ZD) and gradient dynamics (GD) are effective methods for problems solving, but they are investigated individually in previous researches. This paper combines such two methods to propose a simple effective controller-design method, i.e., the so-called ZG method, for the output-tracking control of a class of nonlinear systems. Differing from classic controllers, through the ZG method, an innovative controller is designed. This innovative controller is able to conquer the singularity which is a hard problem for classic controllers. Simulation results further substantiate the feasibility and superiority of the innovative controller designed by the ZG method for solving the class of tracking control problems.