The paper presents a new approach to designing tracking control of uncertain nonlinear plants. The approach is entirely based on numerical methods and corresponding recurrence relations. It results in recursive control laws that resolve plant nonlinearities and compensate all disturbances and parameter variations. Also, it enables a free shaping of the control error dynamics. Control algorithms based on the method of successive substitutions and the Newton’s method are studied in detail. Detailed description of an application and experimental evaluation is included.

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