We consider a class of linear systems in which there is time-varying uncertainty. These linear uncertain systems can be divided into two types. Systems in which the structure of the uncertainty satisfies certain matching conditions are called matched, and those systems in which the uncertainty does not satisfy the matching conditions are called mismatched. A linear control law is determined which produces tracking of dynamic inputs. The tracking error does not asymptotically decrease to zero because the systems are uncertain, instead the error is bounded. In the case of matched systems this error bound can be made arbitrarily small, and the system is said to practically track the input. In mismatched systems, the tracking error cannot be made arbitrarily small, and the system is said to ε-track the input. Previously published theory requires nonlinear controllers for practical tracking. Here, we derive a linear feedforward control law. Several examples illustrate the results.
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December 1990
Research Papers
Design of a Linear Controller for Robust Tracking and Model Following
T. H. Hopp,
T. H. Hopp
The Aerospace Corporation, El Segundo, CA 90245
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W. E. Schmitendorf
W. E. Schmitendorf
Mechanical Engineering Department, University of California, Irvine, CA 92714
Search for other works by this author on:
T. H. Hopp
The Aerospace Corporation, El Segundo, CA 90245
W. E. Schmitendorf
Mechanical Engineering Department, University of California, Irvine, CA 92714
J. Dyn. Sys., Meas., Control. Dec 1990, 112(4): 552-558 (7 pages)
Published Online: December 1, 1990
Article history
Received:
July 1, 1988
Revised:
October 1, 1989
Online:
March 17, 2008
Citation
Hopp, T. H., and Schmitendorf, W. E. (December 1, 1990). "Design of a Linear Controller for Robust Tracking and Model Following." ASME. J. Dyn. Sys., Meas., Control. December 1990; 112(4): 552–558. https://doi.org/10.1115/1.2896179
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