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In this paper, a new control scheme, called additive state decompositionbased tracking control, is proposed to solve the tracking (rejection) problemfor rotational position of the TORA (a nonlinear nonminimum phase system). Bythe additive state decomposition, the tracking (rejection) task for theconsidered nonlinear system is decomposed into two independent subtasks: atracking (rejection) subtask for a linear time invariant (LTI) system, leavinga stabilization subtask for a derived nonlinear system. By the decomposition,the proposed tracking control scheme avoids solving regulation equations andcan tackle the tracking (rejection) problem in the presence of any externalsignal (except for the frequencies at +1 or -1) generated by a marginallystable autonomous LTI system. To demonstrate the effectiveness, numericalsimulation is given.

Additive-State-Decomposition-Based Tracking Control for TORA Benchmark