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A novel preview control scheme is developed for the trajectory tracking problem of continuous-time Lur’e-type nonlinear systems. With the aid of the translation approach, the state augmentation technique along with some special mathematical manipulations, an augmented error system including preview information is constructed. The tracking control problem is thereby reduced to a standard $H_{\infty }$controller design problem. Meanwhile, the integrator is introduced to eliminate the steady-state tracking error. The controller design condition is established in terms of a linear matrix inequality (LMI). As for the original system, the tracking controller is a state feedback controller with tracking error integral plus preview action. Finally, an example is given to illustrate the tracking performance of the proposed method.

Trajectory tracking control with preview action for a class of continuous-time Lur’e-type nonlinear systems