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A controller design strategy for nonlinear systems with more manipulated inputs than controlled outputs is proposed. The technique is called "habituating control" as a result of its similarity to control schemes commonly used in biological systems. Nonlinear control laws that provide inputoutput linearization while simultaneously minimizing the "cost" of affecting control are derived. In the single-output case, the cost function employed differs according to the relative degrees of the twodoi:10.1021/ie960285h fatcat:7n5lkixvnrbgbnbepbyvefcppy