Robust asymptotic tracking for linear systems with unknown parameters
Automatica (Journal of IFAC)
Journal of Optimization Theory and Applications
Bounded controllers for robust exponential convergence
Journal of Optimization Theory and Applications
Augmented system approach to measurement-based robust tracking
Dynamics and Control
On contraction analysis for non-linear systems
Automatica (Journal of IFAC)
Hi-index | 22.14 |
In this paper, we consider uncertain/nonlinear systems subject to unknown constant disturbance inputs. We wish to design state feedback controllers which ensure that the system output asymptotically tracks a specified constant reference signal and all states are bounded. The controllers we consider are PI in the sense that they consist of a piece which depends linearly on the state and another piece which depends on the integral of the output tracking error. Our main result reduces the original problem to a stabilization problem for an associated augmented system which we call the derivative augmented system. We obtain controller design procedures for specific classes of uncertain/nonlinear systems. Then we extend these results to the situation in which the reference signal and the disturbance are not necessarily constant but asymptotically approach a constant.