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

✍ Scribed by L. Marconi; A. Isidori

Publisher
Elsevier Science
Year
2000
Tongue
English
Weight
239 KB
Volume
36
Category
Article
ISSN
0005-1098

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✦ Synopsis

The purpose of this paper is to compare di!erent features of two approaches to the problem of tracking-prescribed trajectories in a nonlinear system, and to propose a possible merger of these approaches in what is called here the problem of `Asymptotically Robust Perfect Trackinga. The latter is the problem of designing a feedforward/error-feedback control law achieving perfect tracking in case the initial conditions of the system/exosystem are known and compatible with perfect tracking, and asymptotic tracking in all other cases.

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