Linear-model-following control and feedback-equivalence to linear controllable systems†

The sufficient conditions developed in the area of model reference adaptive control which guarantee the existence of a linear-model-following control for a non-linear plant are given a geometric interpretation. They are compared with recent results, developed in the area of non-linear geometric control, on global feedback equivalence to linear controllable systems. The comparison gives more insight into the model-following control problem and suggests the generalization of the usual control scheme to a more convenient one, which admits solutions for a larger class of plants.