Further results on additive-state-decomposition-based output feedback tracking control for a class of uncertain nonminimum phase nonlinear systems

This paper shows further results on the output feedback tracking problem for a class of uncertain nonminimum phase nonlinear systems, where a state-based uncertainty is involved. Through a new additive state decomposition process, this uncertainty is divided into two parts which are assigned to the two decomposed subsystems, respectively. Then the controller is designed and its stability is analyzed by the nonlinear small-gain theorem. Finally, to demonstrate the effectiveness of the proposed method, an illustrative example is given.