Asymptotically stable linear time invariant systems are capable of tracking arbitrary reference signals with a bounded error proportional to the magnitude of the reference signal (and its derivatives). It is shown that a similar property holds for a general class of nonlinear dynamical systems which includes all robots. As in the linear case, the error bound may be made "arbitrarily" small by i...

We face the problem of determining a tracking domain of attraction, say the set of initial states starting from which it is possible to track reference signals in given class, for discrete-time systems with control and state constraints. We show that the tracking domain of attraction is exactly equal to the domain of attraction, say the set of states which can be brought to the origin by a prop...

The paper presents performance and robustness analysis of the modified reference model MRAC (model reference adaptive control) or M-MRAC in short, which differs from the conventional MRAC systems by feeding back the tracking error to the reference model. The tracking error feedback gain in concert with the adaptation rate provides an additional capability to regulate not only the transient perf...

In recent years, there has dramatic proliferation of research concerned with Radio Frequency Identification (RFID). The RFID technologies are getting considerable attentions not only academic research but also the applications of enterprise. One of most important issues of applications is the indoor position location. Many researchers have used varied technologies to perform the tracking of ind...

This paper proposes a unified robust zero-error tracking control scheme for constant-voltage-constant-frequency (CVCF) PWM converters to eliminate the tracking error in the presence. Based on the internal model principle, the proposed control scheme plugs a reference signal generator into the stable conventional feedback closed-loop system to accomplish zero error tracking of the dc or ac refer...

This paper presents a fuzzy tracking control design based on H∞ performance for nonlinear systems. The Takagi-Sugeno fuzzy model is employed to approximate a nonlinear system. Based on the H∞ tracking performance, the nonlinear system output is controlled to track a reference signal, and at the same time the tracking performance is attenuated to a prescribed level. Linear matrix inequalities (L...

Model Predictive Control has been, and continues to be, one of the major success stories of advanced control in industry. This is a result of several factors including its ability to deal with constraints. Early implementations were concentrated in the process industries. These implementations were characterised by several distinctive features including long sample periods and constant set-poin...

We consider the tracking problem for parabolic systems with boundary control. Assuming that the reference signal is bounded and measurable, we prove various regularity results as well representation formulas for the optimal control and the optimal trajectory.

We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges to the reference at a rate that depends on the behavior of the transfer function of the plant on the imaginary axis. In addition, we construct a controller t...

In this paper, we consider performance output tracking for a boundary controlled one-dimensional wave equation with possibly unknown internal nonlinear uncertainty and external disturbance. We first show that the open-loop system is well-posed and then propose a disturbance estimator. It is shown that the disturbance estimator can estimate successfully the total disturbance that consists of int...