Funnel control of nonlinear systems

Abstract Tracking of reference signals is addressed in the context a class nonlinear controlled systems modelled by r -th-order functional differential equations, encompassing inter alia with unknown “control direction” and dead-zone input effects. A control structure developed which ensures that, for every member underlying system admissible signal, tracking error evolves prescribed funnel chosen to reflect transient asymptotic accuracy objectives. Two fundamental properties underpin class: bounded-input bounded-output stable internal dynamics, high-gain property (an antecedent concept sign-definite high-frequency gain linear systems).