Model Reference Robust Control Scheme for Nonlinear Parametric Uncertain Systems

In this paper we consider the design of a model reference robust controller for a class of SISO, minimum phase, nonlinear systems. The design of the controller does not require the existence of the matching conditions or the feedback linearisability property in the strictest sense; rather, the controller requires a set of assumptions which allow the original nonlinear system to be transformed into the so-called observable canonical form. The robust control scheme guarantees that the overall states are globally uniformly bounded (GUB) and that the output tracking error is globally uniformly ultimately bounded (GUUB).