Asymptotic Tracking for Nonlinear Systems using Fictitious Inputs

In this contribution the recently introduced concept of fictitious inputs (see [1]) for the design of feedforward controllers is investigated for the case of SISO systems, when only a single fictitious input needs to be introduced. It is shown that the internal dynamics and the input-ouput linearizing controller can be derived from the differential parameterization. Thus, in the case of stable internal dynamics, a desired trajectory can be stabilized based on the differential parameterization resulting from the introduction of the fictitious input. The results of the paper are illustrated for the Van de Vusse type continuous stirred tank reactor (CSTR).