The robust non-linear servomechanism problem

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Abstract
We study the asymptotic tracking and disturbance rejection property of a general non-linear multi-input multi-output distributed servomechanism which consists of input as well as output channel non-linearity. We also explore the robustness of this property of such non-linear servomechanism. Our result shows that the design principle of the robust linear servomechanism (i.e. replicating the dynamics of the reference and disturbance signals) works well for a large class of non-linear servos provided that certain stability conditions are satisfied.