Global output tracking of polynomial reference signals for a class of single-input single-output nonlinear systems

The problem of the global output tracking is considered for a class of single-input single-output nonlinear systems. The class of nonlinear systems considered is constituted by the systems linearisable via state feedback, while the class of reference signals to be asymptotically tracked is constituted by the reference outputs obtained by assigning polynomial reference signals to the state variables. A procedure for the design of a compensator is proposed, which ensures a global convergence property, under sufficient conditions, which, in the case of linear systems, reduce to the absence of invariant zeros in the origin of the complex plane. No minimum phase requirement is needed for applying the procedure. The paper ends with an example and some simulation runs which show the effectiveness of the controller proposed here.