Asian

Journal
of of
Control,
Vol.
14,14,
No.No.
2, pp.
605611,
March 2012
Asian
Journal
Control,
Vol.
6, pp.
1 7, November
2012
Published online
16 December
WileyLibrary
Online (wileyonlinelibrary.com).
Library (wileyonlinelibrary.com)
DOI: 10.1002/asjc.331
Published
online in 2010
Wiley inOnline
DOI: 10.1002/asjc.331

Brief Paper

DYNAMIC INVERSION CONTROL FOR A CLASS OF

PURE-FEEDBACK SYSTEMS
Dao-Xiang Gao, Zeng-Qi Sun, and Jin-Hao Liu
ABSTRACT
A dynamic inversion control method is proposed for a class of purefeedback nonlinear systems. By combing the back-steeping control method
with the singular perturbation theory, the virtual and the nal actual control
inputs are derived from the solutions of a series of fast dynamical equations.
Stability analysis shows that the system output tracks the desired trajectory
with bounded errors, which can be made arbitrarily small by choosing appropriate design parameters. Tracking performance is illustrated by simulation
results.

Key Words: Back-stepping, dynamic inversion, singular perturbation, nonafne, pure-feedback system.

I. INTRODUCTION
In recent years, there has been a signicant development in the control design of nonlinear systems. Most
control methods developed in this context are devoted to
the control problem of the systems in afne form, which
are characterized by the control input appearing linearly
in the system state equation. However, similar controller
design procedure can not be directly used for nonlinear
system in a non-afne form, and therefore the systematic synthesis still remains as a challenge problem for
non-afne nonlinear systems.
Generally speaking, the studies for the control
problem of non-afne system can be broadly classied

Manuscript received January 13, 2010; revised April 6, 2010;

accepted September 4, 2010.
Dao-Xiang Gao and Jin-Hao Liu are with School of Technology, Beijing Forestry University, Beijing 100083, China
(e-mail: Dausson@163.com).
Zeng-Qi Sun is with State Key Laboratory of Intelligent
Technology and system, Department of Computer Science and
Technology, Tsinghua University, Beijing 100084, China.
This work was supported by Beijing Forestry University
Young Scientist Fund (BLX200906), National Natural Science
Foundation of China (90716021, 60736023, 31070634) and
Fundamental Research Funds for the Central Universities
(TD2010-2).

in two categories. In the rst category, the implicit function theorem is used to demonstrate the existence of an
ideal control input for the non-afne system. Since it
is difcult to invert the non-afne nonlinearities to get
an explicit inverting control input, the implicit function
theorem does not provide a way for determining such
inverting control input. In this situation, some works
use neural networks [14] or fuzzy logic systems [58]
as approximation functions to approximate the ideal
control input, even the plant model is known a priori. In
the second category, the control methods are focused on
transforming the original system non-afne in control
input to a new system in which the new control input
variable appears in an afne form. In [9], the fuzzy
logic system is used to approximate the plant model and
the control input can be solved by inverting the fuzzy
model in an afne form. In [10], the authors use Taylor
series expansion to transform the original non-afne
system into the afne-like one in the neighborhood
of the operating trajectory, then the well-developed
control scheme for afne nonlinear systems can be
used directly on the transformed system. In [11], a
dynamic feedback control method was presented by
differentiating the original nonlinear state equation
once such that the resulting augmented state equation
is linear in the new control variable, i.e. the derivative
of the control input. Recently, in [12], the authors
proposed a novel control method based on singular

2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

Asian Journal of Control, Vol.

Vol. 14,
14, No.
No. 2,6,pp.
pp.605611,
1 7, November
2012
March 2012

perturbation theory by combining time scale separation

with dynamic inversion. The control input is derived
from a solution of fast dynamics and is shown to
stabilize the original non-afne system asymptotically.
With constructive Lyapunov design procedures,
back-stepping [13] has been shown as a powerful
method for synthesizing controller of a class of low
triangular nonlinear systems. However, most of these
low triangular structured systems studied by researchers
are conned in afne form, such as the strict feedback
systems [1418]. Fewer results have been obtained
for a class of pure-feedback systems. It should be
noted that the pure feedback systems have no afne
appearance of the variables to be used as virtual and
actual control inputs. Thus, it is difcult to nd the
explicit control inputs for the general pure feedback
systems by using back-stepping design. In [19, 20],
special forms of the pure feedback systems are investigated, which can be seen as a type of simpler or
semi-non-afne pure feedback systems since there exist
partially non-afne functions and at least the actual
control input exists in afne form. In [21], the authors
propose a neural network-based adaptive controller to
deal with the control problem of a completely nonafne pure-feedback system by combing input-to-state
stability analysis with small gain theorem. In [22], the
non-afne smooth functions of pure-feedback system
are rstly transformed into afne forms by using mean
value theorem, then Nussbaum gain functions are used
in place of the unknown control gain functions in
back-stepping design.
In this paper, we will consider the tracking
problem of the class of completely non-afne purefeedback systems by using the back-stepping control
method. In each back-stepping step, we constitute a
fast dynamical system as in [12] to seek the dynamicinversion based virtual and actual control inputs. The
stability analysis shows that, given any sufciently
smooth reference input, it is possible to obtain a control
law that achieves the uniform ultimate boundedness of
the tracking errors in the closed-loop. The theoretical
results are illustrated by the numerical simulation. It is
worth noting that the dynamic surface control (DSC)
[23], which can eliminate the problem of explosion of
complexity inherent in the conventional back-stepping
design, is a special case of our method, because it is
only used for a class of strict feedback systems in afne
form.
This paper is organized as follows. Section II
presents the pure-feedback system that will be considered and some assumptions to facilitate the controller
design. In Section III, we develop the controller structure and derive the error dynamics. Section IV contains

the stability analysis. Finally, An illustrative example

and some conclusion remarks are given in Sections V
and VI.

II. PROBLEM FORMULATION

Consider the following pure-feedback system
xi = f i (x i , x i+1 ),

i = 1, 2, . . ., n 1,

xn = f n (x, u)

(1)

y = x1
where x = [x 1 , . . ., x n ]T R n , is the state vector of the
system which is assumed available for measurement,
u R is the control input, y R is the system output. Let
x i = [x 1 , . . ., x i ]T R i . For the control of pure-feedback
system (1), dene
gi (x i , x i+1 ) =

* f i (x i , x i+1)
*x i+1

* f n (x n , u)
*u
i+1
 *gi (x i , x i+1 )
g i (x i , x i+1 ) =
x j
*x j
j =1
gn (x, u) =

(2)

where i = 1, 2, . . ., n 1.
The reference trajectory yd (t) is appropriately chosen as a sufciently smooth function and
yd (t), yd (t), yd (t) are continuous and bounded. The
control objective is to nd u for system (1) such that
the system output y(t) tracks yd (t) while keeping all
the signals of the closed-system bounded.
Assumption 1. The map f i : R i+1 R, i = 1, 2, . . ., n
is C , f i (0, 0) = 0, f n (0, 0) = 0.
Assumption 2. The signs of gi (), i = 1, 2, . . ., n, are
known, and there exist constants g i >g i >0 , such that
g i <|gi ()|<g i . It is implied that gi () are either positive
or negative and are bounded away from zero for (x, u)
Dx Du R n R, where Dx and Du are compact sets.
Without losing the generality, we assume gi ()>0.

III. CONTROLLER DESIGN

In this section, we develop a control method by
using back-stepping [13], implicit theorem [24] and
singular perturbation theory [25]. At each recursive
step, a desired virtual (actual) control input i , (u) is

2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

D.-X. Gao et al.: Dynamic Inversion Control for a Class of Pure-Feedback Systems

rstly shown to exist, which has some desired properties. Then, a stabilizing function i , (u) is derived by
the solution of a fast dynamical equation. The design
procedures are described as follows.
Step 1. In this step, we consider the rst subsystem
of (1). Dene z 1 = x 1 yd . Its derivative is
z 1 = f 1 (x 1 , x 2 ) yd
= k1 z 1 +[ f 1 (x 1 , x 2 )+k1 z 1 yd ]

(3)

(4)

It is assumed that the ideal virtual control input 1 exists,

but is not available explicitly. We use the solution 1 of
the fast dynamical equation to approximate 1 . By using
mean value theorem, there exist 1 , 1 , 0<1 , 1 <1,
such that
f 1 (x 1 , x 2 ) = f 1 (x 1 , 1 )+ g 11 (x 2 1 )

(5)

f 1 (x 1 , 1 ) = f 1 (x 1 , 1 )+ g11 (1 1 )

(6)

where g 11 = g 1 (x 1 , x 21 ), x 21 = 1 x 2 +(11 )1 ,

g11 = g1 (x 1 , 11 ), 11 = 1 1 +(11 )1 . Note that
the Assumption 2 on g1 (x 1 , x 2 ) is still valid for
g 11 , g11 , i.e. g11 , g11 >g 1 >0.
Dene
z 2 = x 2 1
1 = 1 1 .

z i = f i (x i , x i+1 )  i1
= ki z i +[ f i (x i , x i+1 )+ki z i  i1 ]

where k1 >0 is a constant. From Assumption 2, we

1 ,x2 )
>g 1 >0 for all (x 1 , x 2 ) R 2 . Dene v1 =
know * f 1 (x
* x2
k1 z 1 yd . Noting that v1 is the function of x 1 , yd , yd ,
2 )+v1 ]
1 ,x2 )
= * f 1 (x
>g 1 >0. By choosing
we have *[ f 1 (x1*,x
x2
* x2
x 2 as the virtual control input for the rst subsystem,
there exists a smooth ideal virtual control input 1 such
that
f 1 (x 1 , 1 )+v1 = 0.

where the new time scale 1 is related to the original

time t via the relationship 1 = t/1 .
Step i (2 i n 1). We consider the i-th
subsystem of (1) and dene z i = x i i1 . The derivative of z i is

(7)

We get a singular perturbation system in a standard form


x1 = f 1 (x 1 , x 2 )
(8)
1  1 = f 1 (x 1 , 1 )v1
where 0<1  1.
When 1 = 0, the second differential equation in
(8) reduces to an algebraic equation (4). Using (3)(7),
we can rewrite (8) as

z 1 = k1 z 1 + g11 (z 2 +1 )
(9)
d

1 = g11 1 1  1
d1

(10)

where ki >0 is a constant. From Assumption 2, we

* f (x ,x )
know that i *xi i+1 >g i >0 for all (x i , x i+1 ) R i+1 .
i+1
By viewing x i+1 as a virtual control input of the i-th
subsystem, there exists a smooth ideal control input
such that
f i (x i , i )+vi = 0

(11)

where vi = ki z i  i1 . From the recursive design procedure we can conclude that vi is independent of x i+1 ,
*[ f (x i , x i+1 )+vi ]
>g i >0.
i.e. *vi /*x i+1 = 0. Thus,
*x i+1
By using mean value theorem, there exist i , i ,
0<i , i <1, such that
f i (x i , x i+1) = f i (x i , i )+ gi i (x i+1 i )

(12)

f i (x i , i ) = f i (x i , i )+ gi i (i i )

(13)

where

g i i = gi (x i , x i+1i ),

x i+1i = i x i+1 +(1

i )i , gi i = gi (x i , i i ), i i = i i +(1i )i . Note

that Assumption 2 on gi (x i , x i+1) is still valid for
g i i , gi i , i.e. g i i , gi i >g i >0.
Dene
z i+1 = x i+1 i
i = i i .

(14)

We get a singular perturbation system in a standard form


xi = f i (x i , x i+1)
(15)
i  i = f i (x i , i )vi
where 0<i  1.
When i = 0, the second differential equation
in (15) reduces to an algebraic equation (11). Using
(10)(14), we can rewrite (15) as

z i = ki z i + g i i (z i+1 +i )
(16)
d

i = gi i i i  i
di
where the new time scale i is related to the original
time t via the relationship i = t/i .

2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

Asian Journal of Control, Vol.

Vol. 14,
14, No.
No. 2,6,pp.
pp.605611,
1 7, November
2012
March 2012

Step n. In the nal step, the actual control input

can be derived. Similar to the design procedure of step 1
and step i, dene
z n = x n n1 .

(17)

Its derivative is
z n = f n (x, u)  n1
= kn z n +[ f n (x, u)+kn z n  n1 ]

(18)

where kn >0 is a constant. From Assumption 2,

* f n (x,u)
>g n >0 for all (x, u) R n+1 . There exists a
*u
smooth ideal actual control input such that
f n (x, u)+vn = 0

(19)

where vn = kn z n  n1 . From the fact *vn /*u = 0, we

n]
>g n >0.
get *[ f n (x,u)+v
*u

approximated by a rst-order ltering signal of the

synthetic input. Clearly, if the nonlinear system (1) is
in a strict-feedback form, our method is same as the
dynamic surface control except of the nal step.
Remark 2. For a pure-feedback system, the DSC
method can not be used directly, because the virtual
and actual control inputs exist in the transcendental
equations (see (4), (11) and (19)), which can not be
solved explicitly. In [1921], the derivatives of the
virtual control inputs  i are included in the neural
networks by managing the inputs of the neural networks
appropriately. In [22], the authors ignore  i and treat
it as a function of state vector to be approximated by
neural networks. The proposed method in this paper
can eliminate the explosion of complexity for the
pure-feedback system as the DSC method does for the
strict-feedback system.

By using mean value theorem, there exist n ,

0<n <1, such that
f n (x, u) = f n (x, u)+ g nn (u u)

where g nn = gn (x, u n ), u n = n u +(1n )u. Note

that the Assumption 2 on gn (x, u) is still valid for g nn ,
i.e. g nn >g n >0.
Dene
n = u u

IV. STABILITY ANALYSIS

(20)

(21)

We get a singular perturbation system in a standard form


xn = f n (x, u)
(22)
n u = f n (x, u)vn
where 0<n  1.
When n = 0, the second differential equation in
(22) reduces to an algebraic equation (19). Using (18)
(21), we can rewrite (22) as

z n = kn z n + g nn n
(23)
d

n = gnn n n u
dn
where the new time scale n is related to the original
time t via the relationship n = t/n .
Remark 1. The DSC method [23, 26] is proposed for
the strict-feedback system to eliminate the explosion of
complexity inherent in the conventional back-stepping
design, which is caused by the repeated differentiations
of certain nonlinear functions. The explicit virtual
control input is rstly obtained and its derivative is

For n order non-afne nonlinear single-input

system with relative degree r (r n), the stability of
the system can be analyzed by using singular perturbation theory [25] directly. The control problem of
such system has been discussed in [12]. For the purefeedback system considered in this paper, we should
establish the stability of the closed-loop system.
Firstly, differentiating the left hand side of (11)
and after some simple manipulation, we get
1



* f1
* f1
 1 =
x1 +k1 z 1 yd
*1
*x 1
= B1 (z 1 , z 2 , 1 , k1 , yd , yd , yd )

(24)

where B2 is a continuous function. It follows from the

assumption that f 1 is a C function and the denition
of z 1 .
From the denition of z i , the bound on z i
depends only on z 1 , . . ., z i+1 , 1 , . . ., i , k1 , . . ., ki ,
1 , . . ., i , yd , yd , yd ,


1  i
 * fi
i = * f i
x j +ki z i  i1
(25)
*i
j =1 *x j
Because
 i1 = 1
i1 [ f i1 (x i1 , i1 )+vi1 ]
0 = f i1 (x i1 , i1 )+vi1

(26)

f i1 (x i1 , i1 ) = f i1 (x i1 , i1 )+gi1i1 i1

2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

D.-X. Gao et al.: Dynamic Inversion Control for a Class of Pure-Feedback Systems

then, by induction, we have

 i1 = 1
i1 gi1i1 i1
 i1 = 1
i1 ].
i1 [g i1i1 i1 + gi1i1 

(27)

Thus, in the recursive design procedure, there exists a

continuous function Bi , such that,
 i = Bi (z 1 , . . ., z i+1 , 1 , . . ., i , k1 , . . ., ki ,
1 , . . ., i1 , yd , yd , yd ).

For the bounded reference trajectory yd , yd , yd , it is

clear that given B0 >0, the set D0 := {yd , yd , yd |yd2 +
yd2 + yd2 B0 } is compact in R 3 . For p>0, the sets
Di := {z 12 + y12 + + z i2 + yi2 2 p} are compact in
R 2i . Therefore, D0 Di is compact in R 2i+3 and Bi
(i = 1, 2, . . ., n) has a maximum Mi on D0 Di . Using
Assumption 2 and the facts
2
z i2 +(1/4)z i+1
z i z i+1

(28)

Similarly, we can get

z i2 +(1/4)2i z i i
we have

u = Bn (z 1 , . . ., z n , 1 , . . ., n , k1 , . . ., kn ,
1 , . . ., n1 , yd , yd , yd )

(29)

i=1

Theorem 1. Consider the pure-feedback nonlinear

system described by (1). If the Lyapunov function (30)
is bounded by a given positive constant p for all initial
conditions, i.e. V (0) p, we have the following,
1. There exist k1 , . . ., kn and 1 , . . ., n , such that
the solution of the closed-loop system is semiglobally uniformly bounded.
2. The tracking error y yd lies in a residual set of
size , which can be made arbitrarily small by
tuning the controller parameters ki and 1
i , i=
1, . . ., n.
Proof. The derivative of the Lyapunov function is
V =

n


(z i z i +i  i )

n1

i=1

n1

i=1

i=1

[1
i gi i i i i ]

1
n gn n n n u.

2
(1
i g i i +|i Mi |)

2
1
n g n n +|n Mn |.

(32)

Choose
k1 = 2g 1 +
ki = (2+1/4)gi +, i = 2, . . ., n 1
kn = (1+1/4)gn +

(33)

2
1
i = (1/g i )[(1/4)g i + Mi /(2)]+, i = 1, . . ., n

where  and  are positive constants. Then, we have

V

n


[(z i2 +2i )]+n/2

i=1

= 2V +n/2.

0 V (t) L +[V (0) L] exp(2t)

[ki z i2 + g i i (z i z i+1 + z i i )]

kn z n2 + g nn z n n
+

n1


(34)

Let >(n/2)/(2 p), then V <0 on V (t) = p. Therefore,

V (t) p, t>0 is an invariant set. Let L = (n/2)/(2),
and for all t 0, the solution of inequality (34) is

i=1

i=1

The theoretical results are summarized in the following

theorem.

2
[(ki +2gi )z i2 +(1/4)gi z i+1
+(1/4)gi 2i ]

+(kn + g n )z n2 +(1/4)gn 2n

where Bn is a continuous function. Consider the

Lyapunov function candidate,
 n

n
 2 
V = 1/2
z i + 2i
(30)
i=1

n1


(31)

(35)

It means that V (t) is eventually bounded by L and z i , i

are uniformly ultimately bounded. Thus, all the signals
in the closed-loop system remain bounded.
Combining (30) and (35) yields,
 n
 2
1/2
(36)
z i <L + V (0) exp(2t)
i=0

2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

Asian Journal of Control, Vol.

Vol. 14,
14, No.
No. 2,6,pp.
pp.605611,
1 7, November
2012
March 2012

which implies that, given > 2L, there exists T such

that for all t T , the tracking error satises,

(37)

where  is the size of a small residual set, which

depends on the controller parameters ki and 1
i .
One can conclude that the increase in controller
parameters ki and 1
will result in a better tracking
i
performance.


0.5
y, y d

|z 1 (t)| = |x 1(t) yd (t)| = |y(t) yd (t)|<

1.5

10

20

30

40

50

t/s

V. SIMULATION EXAMPLE

Fig. 1. Output tracking performance (y: solid line; yd : dashed

line. 1 = 2 = 0.02).

Consider the following non-afne pure-feedback

system [21],

4
2

x1 = x 1 + x 2 + x 23 /5

x2 = x 1 x 2 +u +u /7
y = x1.
The desired output trajectory is yd = sin(t).
Choose g 1 = g 2 = 1, g1 = g 2 = 2, M1 = M2 = 6. The
initial values are x(0) = [1 0], u(0) = 0, 1 (0) = 0. The
design parameters of the controller are k1 = 5, k2 = 5,
1 = 2 = 0.02. The control objective is to nd a control
input u such that the output y of the system can track
the reference trajectory yd with bounded error.
Simulation results in Figs 13 show the effectiveness of the proposed tracking control scheme.
Fig. 1 and Fig. 2 show the tracking performance and
the actual control input, respectively. To show how
the controller parameters affect the control performance of the system, the other two sets of perturbed
parameters are chosen for simulation, 1 = 2 = 0.01
and 1 = 2 = 0.05. The control gains are still chosen
as k1 = 5, k2 = 5. The tracking errors are depicted in
Fig. 3. With the rst set of controller parameters,
the amplitude of the tracking error is about 0.6% of
the reference signal. With the other sets of controller
parameters, the tracking error is about 0.3% and 1.5%
of the reference signal, respectively.

10

20

30

40

50

t/s

Fig. 2. Control input (1 = 2 = 0.02).

0.05

10

20

30

40

50

t/ s

Fig. 3. Tracking error (1 = 2 = 0.01: solid line; 1 = 2 =

0.02: dashed line; 1 = 2 = 0.05: dash-dotted line).

shows that the developed control scheme achieves

semi-global uniform ultimate boundedness of all the
signals in the closed-loop.

VI. CONCLUSION
In this paper, a new control method is developed
for non-afne pure-feedback system. The implicit
theorem function is used to demonstrate the existence
of the ideal control input for the non-afne system. For
each subsystem, a fast dynamic equation is constituted
based on singular perturbation theory to approximate
the solution of the ideal control input. Stability analysis

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