Tracking controllers for systems linear in the unmeasured states

Randy A. Freeman*, P. V. Kokotović

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

68 Scopus citations


We introduce a class of extended strict feedback nonlinear systems in which unmeasured states enter the system equations in a linear (affine) fashion. For such systems, we present a procedure for constructing dynamic partial state feedback controllers that achieve the global asymptotic tracking of given reference trajectories while maintaining internal boundedness. The controller dynamic order is equal to the number of unmeasured states. To illustrate our design procedure, we construct such a tracking controller for a nonlinear electromechanical rotor/platform system.

Original languageEnglish (US)
Pages (from-to)735-746
Number of pages12
Issue number5
StatePublished - May 1996


  • Disturbance rejection
  • Dynamic output feedback
  • Global stability
  • Lyapunov methods
  • Nonlinear systems
  • Tracking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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