This paper proposes a new tracking control design for linear time-varying systems. The proposed control input, which is in the span of finitely many preselected input data, minimizes the L2-norm of the output tracking error. The more input data is used, the less L2-norm of the tracking error is achieved. The design of the new controller, which consists of a feedforward controller and a discretized state feedback loop, requires a finite-time preview of the system parameters and the reference trajectory. It is shown that as long as the preview time is longer than a critical value, the closed-loop stability is maintained irrespective of the stability property of the system’s zero dynamics. When the system parameters are periodically time-varying, the proposed design can be solely based on a set of experimental input and output data instead of on the exact information of system parameters.
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March 1998
Technical Papers
A Tracking Controller for Linear Time-Varying Systems
Min-Shin Chen
Min-Shin Chen
National Taiwan University, Department of Mechanical Engineering, Taipei, Taiwan
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Min-Shin Chen
National Taiwan University, Department of Mechanical Engineering, Taipei, Taiwan
J. Dyn. Sys., Meas., Control. Mar 1998, 120(1): 111-116 (6 pages)
Published Online: March 1, 1998
Article history
Received:
November 28, 1994
Revised:
August 26, 1995
Online:
December 3, 2007
Citation
Chen, M. (March 1, 1998). "A Tracking Controller for Linear Time-Varying Systems." ASME. J. Dyn. Sys., Meas., Control. March 1998; 120(1): 111–116. https://doi.org/10.1115/1.2801306
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