中文摘要：

非线性系统的跟踪控制及其奇异点问题求解已在科学和工程领域引起广泛关注。基于作者团队前期主要关于单输入单输出非线性系统跟踪控制的工作，本文进一步提出了面向多输入多输出非线性系统跟踪控制的 ZG 控制方法的框架与展望。利用该 ZG 控制方法，可以设计能同时解决多输入多输出非线性系统的跟踪控制问题及可能出现的奇异点问题的 ZG 控制器。

英文摘要：

Tracking control and its singularity problem solving of nonlinear systems have attracted many attentions in the fields of science and engineering. Based on the previous research of the authors’ group mainly about single-input and single-output nonlinear system tracking control, the framework and outlook of ZG control method were further presented for the tracking control of multiple-input and multiple-output （MIMO） nonlinear systems. Via the ZG control method, ZG tracking controllers that simultaneously solve the tracking-control and its singularity problem of MIMO nonlinear systems can be designed.