Asymptotic output tracking with a two level hierarchical system

In this paper a two level hierarchical system is considered. This system co nsists of two discs that have limited rotational movement. It is assumed th at one disc has large inertia and low angular acceleration and the other di sc has low inertia and high angular acceleration. The disc with large angul ar acceleration is mounted on the periphery of the disc with low accelerati on. The angular velocity and orientation of both discs is controllable. It is shown how the theory of asymptotic output tracking for linear systems, c ombined with some easily programmable mathematical optimization problems le ads to very good results when designing a controller for asymptotically tra cking a moving object, in particular meeting the angular acceleration limit s imposed on the two discs. The paradigm for this system is the human eye-h ead-neck system and the tracking of a moving object at a distance from the eye.