Abstract
This paper presents a robust control law which achieves model following with prescribed accuracy for a class of nonlinear systems which contain bounded unknown disturbances and uncertain nonlinear terms. Our method consists of nonlinear compensation and linear compensation. The former ensures robustness for the plant, the latter achieves both desired model following response and desired initial error convergence. The distinguish feature of our method is that admissible control error bound, smoothness of input, reference model (or desired command response), and initial error response can be specified independently, and that the controller is designed based on the information of the “bounds” of uncertainty terms.
