Tracking Control Design for Uncertain Dynamic Systems

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The problem of designing a feedback controller which results in a system that asymptotically tracks the desired referece input is a fundamental problem for control engineers. Procedures for designing tracking controllers are well established for linear systems with no y. Recently, it has become recognized that control designs based on a nominal system may not work well in practice since the system may deviate from its nominal values. This has led to interest in robust controller design, i.e., the controller must be designed to achieve desired performance when there are perturbations in the system. This research will develop techniques for designing controllers which guarantee asymptotic tracking for all allowable variations in the system parameters. Such a controller is termed a robust tracking controller. The goal is to derive conditions which establish the existence of a robust tracking controller and to determine constructive methods for designing controllers with this robustness property.