A time efficient nonlinear tracking controller

This article proposes a time efficient set-point tracking controller. The proposed controller synthesizes smooth control input within the input saturation limits of a class of second order nonlinear continuous time plants. The Lyapunov function based analysis assures the global asymptotic stability of the closed-loop and the convergence of the set-point tracking error to zero. The computer simulation and laboratory scale experimental results are included in the paper to verify the theoretical findings.