Abstract: This paper first studies the output tracking and almost disturbance
decoupling problem of nonlinear control systems with mismatch uncertainties
based on the feedback linearization approach and fuzzy logic control. The main
contribution of this study is to construct a composite controller, under
appropriate conditions, such that the resulting closed-loop system is valid for
any initial condition and bounded tracking signal with the following
characteristics: input-to-state stability with respect to disturbance inputs
and almost disturbance decoupling, i.e., the influence of disturbances on the
L_2 norm of the output tracking error can be arbitrarily
attenuated by increasing some adjustable parameters. One example, which cannot
be solved by previous papers on the almost disturbance decoupling problem, is
proposed in this paper to exploit the fact that the tracking and the almost
disturbance decoupling performances are easily achieved by the proposed
approach. In order to demonstrate the practical applicability, this paper has
investigated an inverted pendulum control system.
