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San Diego, California USA * December 1997 Switching through Singularitiesl

By C. J. Tomlin and S. S. Sastry


Asymptotic tracking is studied for systems which are not regular, that is th.e relative degree is not well defined. Hence the control law derived from exact inputoutput linearization has singularities in the state space. We propose a tracking control law which switches between an approximate tracking law [l] close to the singularities, and an exact tracking law away from the singularities, and we study the applicability of this law based on the behavior of the system’s zero dynamics at the switching boundary. As in [l], the ball and beam example is used to motivate the study.

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