Improved dynamic surface control for a class of higher order nonlinear systems

An improved dynamic surface control (IDSC) approach is presented for a class of higher order nonlinear systems. In this method, the virtual control signal is directly used to replace the signal generated by the first-order filter to construct the state error, so that the state error is not affected by the first-order filter, and the control design is simplified. The stability of the method is proved by Lyapunov stability theory, and the semi-global uniform ultimate boundedness of all signals in the closed-loop system is guaranteed. Simulation results demonstrate the IDSC method has better tracking performance and stability than traditional DSC method.