Framework and Outlook of ZG Control Method for Multiple-Input and Multiple-Output Nonlinear Systems

Tracking control and its singularity problem solving of nonlinear systems have attracted many attentions in the fields of science and engineering. Based on the previous research of the authors' group mainly about single-input and single-output nonlinear system tracking control, the framework and outlook of ZG control method were further presented for the tracking control of multiple-input and multiple-output(MIMO) nonlinear systems. Via the ZG control method, ZG tracking controllers that simultaneously solve the tracking-control and its singularity problem of MIMO nonlinear systems can be designed.