Recursive Model Free Controller for trajectory tracking of MIMO nonlinear systems

This paper deals with a new Recursive Model Free Controller for trajectory tracking of MIMO nonlinear systems whose structure is simple and dose not depend on any physical model. The proposed controller is based on the theory of a particular class of hybrid systems, called Piecewise Continuous Systems, which are characterized by autonomous switchings and controlled impulses. The effectiveness and robustness of the proposed controller is experimented on a three tank system.