Robust dynamic surface control of nonlinear systems with prescribed performance

In this paper, a robust dynamic surface controller with prescribed performance for a class of nonlinear feedback systems is proposed. Utilizing the prescribed performance control (PPC), the prescribed steady state and transient performance for the tracking error of the original system can be ensured through the stabilization of a transformed system. The dynamic surface control procedure solves the mismatched uncertainties and the explosion of the complexity problem. The uncertainties can be eliminated by the constructed compensation signals of a low-pass filter. And it is proven in the performance analysis that the proposed controller is of low complexity and has improved system robustness. Simulation results verify the proposed approach.