  In this paper, the D2-IBC (Data-Driven Inversion Based Control) approach for
nonlinear control is introduced and analyzed. The method does not require any
a-priori knowledge of the system dynamics and relies on a two degrees of
freedom scheme, with a nonlinear controller and a linear controller running in
parallel. In particular, the former is devoted to stabilize the system around a
trajectory of interest, whereas the latter is used to boost the closed-loop
performance. The paper also presents a thorough stability and performance
analysis of the closed-loop system.
