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针对非完整单链和多链系统，利用动态反馈线性化技术设计了输出跟踪控制器．证明了当满足一定的条件时，通过选择适当的输出变量并利用动态反馈可使非完整链式系统实现输入－输出完全线性化，从而可设计线性控制器跟踪期望的运动轨迹．最后以移动小车的跟踪控制为例，通过仿真验证了文中方法的有效性
For non-complete single-chain and multi-chain systems, the output tracking controller is designed by using dynamic feedback linearization. It proves that when certain conditions are satisfied, the input-output can be completely linearized by selecting the appropriate output variables and using dynamic feedback, so that the linear controller can be designed to track the desired trajectory. Finally, taking the tracking control of mobile trolley as an example, the validity of the method in the paper is verified by simulation