A gradient descent control for output tracking of a class of non-minimum phase nonlinear systems

In this paper we present a new approach to design the input control to track the output of a non-minimum phase nonlinear system. Therefore, a ascade control scheme that combines input–output feedback linearization and gradient descent control method is proposed. Therein, input–output eedback linearization forms the inner loop that compensates the nonlinearities in the input–output behavior, and gradient descent control forms the uter loop that is used to stabilize the internal dynamics. Exponential stability of the cascade-control scheme is provided using singular perturbation heory. Finally, numerical simulation results are presented to illustrate the effectiveness of the proposed cascade control scheme. 2016 Universidad Nacional Autónoma de México, Centro de Ciencias Aplicadas y Desarrollo Tecnológico. This is an open access article under he CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).