Robust trajectory tracking for a feedback linearizable nonlinear system

For a nonlinear system, affine in the control and in the disturbance, a generalized tracking problem is considered. The prescribed trajectory and prescribed discrete points should be tracked robustly with respect to a disturbance bounded in L2 It is assumed that the system has the full relative degree both with respect to the control and to the disturbance. Once the system is feedback linearized, the previous results on a robust tracking for a linear system are applied. The tracking condition is formulated in terms of an original system. Illustrative examples are presented.