Control synthesis for a class of nonlinear systems based on partition of unity

A partition-of-unity-based approach is proposed to derive an approximate model for a class of nonlinear systems. The precision of the approximate model is analyzed by using the modulus of continuity of continuous functions. The system stability of the approximate model is analyzed by using Lyapunov stability theory. A design algorithm for constructing tracking controllers with tracking performance related to tracking error is given based on the approximate model and the partition of unity method.