Nonlinear Tracking Controllers Design

In this paper we present a new technique for design of nonlinear feedback controllers that yield satisfactory tracking performance for a class of dynamic systems. The controller is based on minimization of predicted tracking errors. Some tracking convergence properties of the controller are established. In the face of model uncertainties, we show that the unique structure of the controller allows robust stable tracking via high-gain feedback. Possible modifications for adaptive control in the presence of parameter uncertainties are discussed. Practical usefulness and effectiveness of the approach are exemplified by an autopilot design problem for a missile.