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TECHNICAL PAPERS

A Tracking Controller for Linear Time-Varying Systems

[+] Author and Article Information
Min-Shin Chen

National Taiwan University, Department of Mechanical Engineering, Taipei, Taiwan

J. Dyn. Sys., Meas., Control 120(1), 111-116 (Mar 01, 1998) (6 pages) doi:10.1115/1.2801306 History: Received November 28, 1994; Revised August 26, 1995; Online December 03, 2007

Abstract

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.

Copyright © 1998 by The American Society of Mechanical Engineers
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