Tracking and manoeuvre regulation control for nonlinear non-minimum phase systems

In this paper we study the problem of converting a tracking controller to a manoeuvre regulation controller for a nonlinear nonminimum phase control system. First, a tracking controller, consisting of feedforward and static state feedback, is designed to guarantee uniform asymptotic trajectory tracking. The feedforward is determined by solving a stable noncausal inversion problem. Constant feedback gains are determined based on LQR optimization and assumed satisfaction of a robustness inequality. A manoeuvre regulation controller is obtained from the tracking controller by introducing a suitable state projection that is related to the LQR feedback gains. Properties of the closed loop, including local asymptotic convergence of the transverse errors, are developed