Output invisible control allocation with asymptotic optimization for nonlinear systems in normal form

We consider the problem of control allocation for weakly redundant nonlinear plant models, that is, input redundant systems possessing a maximum rank control distribution. Attention is focused on nonlinear models that admit a special global normal form, which subsumes the case of systems with globally-defined vector relative degree. It is shown how the availability of a set of suitably defined redundant input leads (under some technical conditions) to the definition of different static and dynamic strategies for steady-state optimization within a given set-point regulation problem