Dynamic inversion for multivariable non-affine-in-control systems via time-scale separation

Naira Hovakimyan, Eugene Lavretsky, Chengyu Cao

Research output: Contribution to journalArticlepeer-review


This paper presents a tracking design methodology applicable to multivariable non-affine-in-control systems. The main focus is on solving the tracking problem for non-linear systems whose dynamics depend non-linearly on the control input. The latter is designed to be faster than the main system dynamics. Using singular perturbation theory along with the Lyapunov stability theorems, it is shown that the proposed controller approximates an unknown dynamic inversion based solution with bounded errors, provides closed-loop stability, and solves the tracking problem with bounded errors. Simulations illustrate the theoretical results.

Original languageEnglish (US)
Pages (from-to)1960-1967
Number of pages8
JournalInternational Journal of Control
Issue number12
StatePublished - Dec 2008


  • Dynamic inversion
  • Nonlinear control
  • Time-scale separation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications


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