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The Center for Control, Dynamical Systems, and Computation University of California at Santa Barbara
 

Summary: The Center for Control, Dynamical Systems, and Computation
University of California at Santa Barbara
Fall 2006 Seminars
Presents
Performance Limitations in Path Tracking for
Linear Systems
by Prof. Rick Middleton
University of Newcastle
Wednesday, November 8th, 2006 3:00 - 4:00 PM ESB 2001
Abstract:
It is well known, that anti-stable zero dynamics (that is, non-minimum phase behaviour), limits the abil-
ity of any causal stabilising control to achieve arbitrarily good trajectory tracking performance. There
have recently been extensions in several directions to reduce or remove this limitation. One direc-
tion has been the use of `preview control', whereby, advance knowledge of a reference trajectory is
used to reduce limitations on the achievable trajectory tracking performace. More recently, there have
been a series of works by Aguiar, Hespanha, Kokotovic and others on another approach, namely a
path tracking approach, wherein the control objective is specified as a `spatial only' trajectory, that is,
there is no associated temporal specification. In this case, previous work has been able to establish
constructively, that several performance limitations can be removed. In this talk, we re-examine this
approach from a linear systems perspective, and categorise which classes of paths and plants permit

  

Source: Akhmedov, Azer - Department of Mathematics, University of California at Santa Barbara

 

Collections: Mathematics