Trade-offs in linear control system design
Automatica (Journal of IFAC)
Performance limitations of non-minimum phase systems in the servomechanism problem
Automatica (Journal of IFAC)
Nonlinear and Adaptive Control Design
Nonlinear and Adaptive Control Design
The Local Solvability of a Hamilton--Jacobi--Bellman PDE around a Nonhyperbolic Critical Point
SIAM Journal on Control and Optimization
Paper: The internal model principle of control theory
Automatica (Journal of IFAC)
Path-following for linear systems with unstable zero dynamics
Automatica (Journal of IFAC)
Robust output maneuvering for a class of nonlinear systems
Automatica (Journal of IFAC)
A general framework for multiple vehicle time-coordinated path following control
ACC'09 Proceedings of the 2009 conference on American Control Conference
Time and output warping of control systems: Comparing and imitating motions
Automatica (Journal of IFAC)
Adaptive restricted trajectory tracking for a non-minimum phase hypersonic vehicle model
Automatica (Journal of IFAC)
Hi-index | 22.15 |
We investigate limits of performance in reference tracking and path following and highlight an essential difference between them. For a class of nonlinear systems, we show that in reference tracking, the smallest achievable L"2 norm of the tracking error is equal to the least amount of control energy needed to stabilize the zero dynamics of the error system. We then show that this fundamental performance limitation does not exist when the control objective is to force the output to follow a geometric path without a timing law assigned to it. This is true even when an additional desired speed assignment is required to be satisfied asymptotically or in finite time.