A tutorial on the globally monotonic tracking control problem with geometric techniques
In this paper we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a constant step reference at any desired rate of convergence for any initial condition. This framework shows that for MIMO LTI systems the objectives of achieving a rapid se...
| Main Authors: | , , , |
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| Format: | Conference Paper |
| Published: |
2016
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| Online Access: | http://hdl.handle.net/20.500.11937/52055 |
| Summary: | In this paper we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a constant step reference at any desired rate of convergence for any initial condition. This framework shows that for MIMO LTI systems the objectives of achieving a rapid settling time, while at the same time avoiding overshoot and/or undershoot, are not necessarily competing objectives. |
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