Funnel Control Via Funnel Precompensator for Minimum Phase Systems With Relative Degree Two

We consider tracking control for linear minimum phase single-input, single-output systems with relative degree two. For a class of sufficiently smooth reference signals, we introduce a dynamic controller which achieves that the tracking error evolves within a prespecified performance funnel. This co...

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Bibliographic Details
Published in:IEEE transactions on automatic control 2018-07, Vol.63 (7), p.2264-2271
Main Authors: Berger, Thomas, Reis, Timo
Format: Article
Language:English
Subjects:
Backstepping
Closed loop systems
Differential equations
Funnel control
funnel precompensator
linear systems
minimum phase
Observers
relative degree
Trajectory
Transient analysis
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Summary:We consider tracking control for linear minimum phase single-input, single-output systems with relative degree two. For a class of sufficiently smooth reference signals, we introduce a dynamic controller which achieves that the tracking error evolves within a prespecified performance funnel. This controller is based on the recently developed funnel precompensator combined with a proportional-derivative funnel controller. Altogether, this yields a dynamic controller which satisfies the control objective and uses only the output of the system and NOT the derivative of the output. The system parameters do not have to be known for the controller design.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.2017.2761020