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For considering a general non-affine in control nonlinear systems, this present paper introduces a new Adaptive Nonlinear Optimal Recursive Control (ANORC) used for trajectory tracking. This referred ANORC controller which is developed on a L2 norm prescribed to minimize a trajectory tracking error has advantages of adaptive turning and optimal features. Furthermore, under the feedback of the systems output, this ANORC which adopts a control structure in recursive scheme and employs no knowledge of internal dynamics ensures the realization of the systems output trajectory tracking. Then to demonstrate the performances and effectiveness of this proposed ANORC controller, three different academic numerical examples (in the form of Single Input Single Output (SISO), Multi-Input Single Output (MISO) and Multi-Input Multi-Output (MIMO)) are implemented.

Non-Affine Nonlinear Systems Adaptive Optimal Trajectory Tracking Controller Design and Application