Observer-Based Tracking Control Design for a Class of Nonlinear Discrete-Time Systems

Abstract

In this paper, The problem of robust tracking and model following is considered for a class of discrete-time nonlinear systems, where the nonlinearities satisfy the Lipschitz condition. In this paper, it is assumed that the system state is not accessible. A nonlinear observer is designed firstly, and then based on the observed states the controller is designed. Based on Lyapunov stability theory, we prove that the constructed controller can drive the system’s output function to the desired output that is generated by a reference model, and the tracking error decreases asymptotically to zero. Simulations on controlling systems are investigated, and the results show that the designed controllers are feasible and efficient.