Output Tracking Control of Nonlinear Systems with Weakly Non-minimum Phase

This paper is concerned with the problem of designing a robust output tracking controller for MIMO nonlinear systems with weakly non-minimum phase. Based on our system formulation, control plants with uncertainties and/or with actuator dynamics fall into the class under consideration. Under some mild assumptions, it is shown that the overall states and the tracking errors are uniformly bounded. Furthermore, the tracking errors converge to a small residual set.