Asymptotic tracking and disturbance rejection in uncertain nonlinear systems

A state feedback dynamic controller is constructed to achieve asymptotic tracking and disturbance rejection for a class of nonlinear systems regardless of certain plant uncertainties. This controller is based on a kth-order robust control law, and features what is called the internal model principle in the linear literature. The result extends the robust linear servomechanism theory to the nonlinear setting.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>