The tracking control problem of multi-input multi-output (MIMO) nonaffine dynamic systems is studied in this note. A globally uniformly ultimately bounded (GUUB) stable tracking control solution for non-square MIMO nonaffine systems with unknown dynamics and disturbances is established. Different from most existing methods, the proposed control design is based on the readily computable deep-rooted information on the system and does not involve linearization or approximation; and the resultant control algorithms are simple in structure, inexpensive in computation, user-friendly in design, and undemanding in implementation. Both theoretical analysis and numerical simulation verify the effectiveness and benefits of the proposed method.
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Song et al. (2015) studied this question.
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