Robust trajectory tracking for incrementally passive nonlinear systems

Chengshuai Wu, Arjan van der Schaft, Jian Chen*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


In this paper, we study the robust trajectory tracking problem for a class of nonlinear systems with incremental passivity. The velocity of the desired trajectory and parts of the model information are unknown apart from boundedness assumptions. A velocity observer based method and a sliding mode controller are proposed while the asymptotic tracking result is guaranteed by a zero-state detectability condition for both cases. Unlike previous results, the studied systems are not necessarily feedback linearizable nor in a strict feedback form. The ball and beam system is utilized to illustrate the implementation of the proposed tracking control laws.

Original languageEnglish
Pages (from-to)595-599
Number of pages5
StatePublished - Sep 2019
Externally publishedYes


  • Asymptotic stability
  • Incremental passivity
  • Port-Hamiltonian systems
  • Robust control
  • Trajectory tracking


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