Dynamic inversion for nonaffine-in-control systems via time-scale separation: part 1

This paper presents a new method for approximate dynamic inversion for nonaffine-incontrol systems via time-scale separation. The control signal is sought as a solution of “fast” dynamics and is shown to asymptotically stabilize the original nonaffine system. Sufficient conditions are formulated, which are consistent with the assumptions of Tikhonov’s theorem in singular perturbations theory. Several examples illusillustrate the theoretical results.