Output-tracking control for a class of multi-input multi-output non-affine nonlinear systems using extremum-seeking algorithm
基于极值搜索算法的一类多输入多输出非仿射型非线性系统输出跟踪控制

An output tracking control method based on extremum-seeking algorithm is presented for a class of multiinput multi-output (MIMO) non-affine nonlinear systems with unmeasured states. In place of a state observer, the extremum-seeking algorithm is employed to determine the output extremum, which is used together with the system output in designing the control law. The averaging theory is adopted to analyze the stability of the average system. The stability of the closed-loop system and the convergence of the output tracking error are proved by using the singular perturbation method. Simulation results validate the effectiveness of the proposed method.