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Exact-Output Tracking Theory for Systems with Parameter JumpsIn this paper we consider the exact output tracking problem for systems with parameter jumps. Necessary and sufficient conditions are derived for the elimination of switching-introduced output transient. Previous works have studied this problem by developing a regulator that maintains exact tracking through parameter jumps (switches). Such techniques are, however, only applicable to minimum-phase systems. In contrast, our approach is applicable to nonminimum-phase systems and obtains bounded but possibly non-causal solutions. If the reference trajectories are generated by an exo-system, then we develop an exact-tracking controller in a feedback form. As in standard regulator theory, we obtain a linear map from the states of the exo-system to the desired system state which is defined via a matrix differential equation. The constant solution of this differential equation provides asymptotic tracking, and coincides with the feedback law used in standard regulator theory. The obtained results are applied to a simple flexible manipulator with jumps in the pay-load mass.
Document ID
19970003455
Acquisition Source
Ames Research Center
Document Type
Reprint (Version printed in journal)
Authors
Devasia, Santosh
(Utah Univ. Salt Lake City, UT United States)
Paden, Brad
(California Univ. Santa Barbara, CA United States)
Rossi, Carlo
(Bologna Univ. Italy)
Date Acquired
August 17, 2013
Publication Date
January 1, 1996
Subject Category
Cybernetics
Accession Number
97N12187
Funding Number(s)
CONTRACT_GRANT: NSF MSS-92-16690
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.
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