# Funnel control of nonlinear systems

arXiv: https://arxiv.org/abs/2007.10123 · HTML: https://mlsanity.com/paper/2007.10123/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Jul 2020.

## Built on by (most cited first, 1 of 1)

- [Reinforcement Learning for Docking Maneuvers with Prescribed Performance](https://mlsanity.com/paper/2402.08306/) (2024)

## Abstract (arXiv)

Tracking of reference signals is addressed in the context of a class of nonlinear controlled systems modelled by r-th order functional differential equations, encompassing inter alia systems with unknown "control direction" and dead-zone input effects. A control structure is developed which ensures that, for every member of the underlying system class and every admissible reference signal, the tracking error evolves in a prescribed funnel chosen to reflect transient and asymptotic accuracy objectives. Two fundamental properties underpin the system class: bounded-input bounded-output stable internal dynamics, and a high-gain property (an antecedent of which is the concept of sign-definite high-frequency gain in the context of linear systems).