We consider a new approach to improve the performance of reference tracking problems for closed loop stabilized continuous linear systems through manipulation of the reference signals initiated by the occurrence of a discrete event. By means of the internal model principle, we show that a change in the reference signal is equivalent to implementing an instantaneous change via the choice of a de...

Tracking—by the system output—of a reference signal (assumed bounded with essentially bounded derivative) is considered in the context of a class of nonlinear, single-input, single-output systems modelled by functional differential equations and subject to input saturation. Prespecified is a parameterized performance funnel within which the tracking error is required to evolve; transient and as...

An adaptive tracking control scheme is presented for fractional-order chaotic systems with uncertain parameter. It is theoretically proved that this approach can make the uncertain parameter fractional-order chaotic system track any given reference signal and the uncertain system parameter is estimated through the adaptive tracking control process. Furthermore, the reference signal may belong t...

The methodology for tracking system and disturbance rejection considering polytopic uncertainties in the plant is proposed in this work. The process of disturbance rejection is make though of the dynamic feedback of the system using a controller Kp(s) that minimize the H2-norm guaranteed cost from w(t) para z(t), where w(t) is the disturbance signal and z(t) is the output of the system. And so,...

This paper presents a model-based control design for trajectory tracking of two-wheeled mobile robots based on Linear Quadratic Regulator (LQR) optimal control. The model proposed in this article has been implemented on a computational model which is obtained from kinematic and dynamic relations of KHEPERA IV. The purpose of control is to track a predefined reference trajectory with the best po...

First, the internal model principle is applied for plants that are passive nonlinear systems, to solve a disturbance rejection problem (without reference signal), where the exogeneous signal is a finite superposition of sine waves of arbitrary known frequencies. The proposed controller assures that both the state of the plant and the error signal converge to zero. Based on the above result, we ...

The speed tracking control problem of permanent magnet synchronous motors with parameter uncertainties and load torque disturbance is addressed. Fuzzy logic systems are used to approximate nonlinearities, and an adaptive backstepping technique is employed to construct controllers. The proposed controller guarantees the tracking error convergence to a small neighborhood of the origin and achieve...

Location tracking systems are increasingly becoming the focus of research in the field of Wireless Sensor Network (WSN). Received Signal Strength (RSS)-based localization systems are at the forefront of tracking research applications. Radio location fingerprinting is one of the most promising indoor positioning approaches due to its powerful in terms of accuracy and cost. However, fingerprintin...

This paper investigates tracking performance limitations of a linear time invariant (LTI) multivariable plant subject to external disturbance or model uncertainty. It attempts to extend some recent results on tracking performance limitation in which neither the disturbance nor the uncertainty is considered. The reference signal to be tracked is a step signal. The tracking performance is measure...