Mixed internal model-based and feedforward control for robust tracking in nonlinear systems

Citation
L. Marconi et A. Isidori, Mixed internal model-based and feedforward control for robust tracking in nonlinear systems, AUTOMATICA, 36(7), 2000, pp. 993-1000
Citations number
9
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
AUTOMATICA
ISSN journal
00051098 → ACNP
Volume
36
Issue
7
Year of publication
2000
Pages
993 - 1000
Database
ISI
SICI code
0005-1098(200007)36:7<993:MIMAFC>2.0.ZU;2-8
Abstract
The purpose of this paper is to compare different features of two approache s to the problem of tracking-prescribed trajectories in a nonlinear system, and to propose a possible merger of these approaches in what is called her e the problem of "Asymptotically Robust Perfect Tracking". The latter is th e problem of designing a feedforward/error-feedback control law achieving p erfect tracking in case the initial conditions of the system/exosystem are known and compatible with perfect tracking, and asymptotic tracking in all other cases. (C) 2000 Elsevier Science Ltd. All rights reserved.