Global output-feedback tracking for a benchmark nonlinear system

Zhong Ping Jiang, Ioannis Kanellakopoulos

Research output: Contribution to journalArticlepeer-review


In this paper, the output-feedback global tracking problem is solved for the well-known nonlinear benchmark RTAC system, in which one of the unmeasured states appears quadratically in the state equations. Our novel observer/controller backstepping design yields a nonlinear output-feedback controller that forces the translational displacement to globally asymptotically track an appropriate time-varying signal. The proposed solution is new even for the case of global output-feedback stabilization, namely when the reference signal is zero.

Original languageEnglish (US)
Pages (from-to)1023-1027
Number of pages5
JournalIEEE Transactions on Automatic Control
Issue number5
StatePublished - May 2000

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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