EXACT-OUTPUT TRACKING THEORY FOR SYSTEMS WITH PARAMETER JUMPS

We consider the exact output tracking problem for systems with paramet er jumps. Necessary and sufficient conditions are derived for the elim ination of switching-introduced output transient. Previous works have studied this problem by developing a regulator that maintains exact tr acking through parameter jumps (switches). Such techniques are, howeve r, only applicable to minimum-phase systems. In contrast, our approach is applicable to non-minimum-phase systems and it obtains bounded but possibly non-causal solutions. If the reference trajectories are gene rated by an exosystem, then we develop an exact-tracking controller in a feedback form. As in standard regulator theory, we obtain a linear map from the states of the exosystem to the desired system state which is defined via a matrix differential equation. The constant solution of this differential equation provides asymptotic tracking, and coinci des with the feedback law used in standard regulator theory. The obtai ned results are applied to a simple flexible manipulator with jumps in the pay-load mass.