Tracking and Regulation with Internal Stability of

In this paper, an output nonlinear control scheme reported initially in [l] is considered. The performance and robustness issues associated to the scheme are addressed. The analysis of the internal stability of the resultant closed-loop sy5 tem is also presented. The control configuration includes a tracking (reference) model, a regulation filter and a nominal model of the process. The tracking model determines the control system performance, in the same manner as in the model matching problem. Meanwhile, the regulation filter determines the robustness characteristics with respect to external disturbances and modelling uncertainties.