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Exact-Output Tracking Theory for Systems with Parameter JumpsWe 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 non-minimum-phase systems and it obtains bounded but possibly non-causal solutions. If the reference trajectories are generated by an exosystem, then we develop an exact-tracking controller in a feed-back form. As in standard regulator theory, we obtain a linear map from the states of the exosystem 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
19990024944
Acquisition Source
Ames Research Center
Document Type
Reprint (Version printed in journal)
External Source(s)
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 19, 2013
Publication Date
January 1, 1997
Publication Information
Publication: International Journal of Control
Publisher: Taylor and Francis Ltd.
Volume: 67
Issue: 1
ISSN: 0020-7179
Subject Category
Cybernetics
Funding Number(s)
CONTRACT_GRANT: NAG2-1042
CONTRACT_GRANT: NSF MSS-92-16690
Distribution Limits
Public
Copyright
Other

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