PD HIGH-GAIN NATURAL TRACKING CONTROL OF TIME-INVARIANT SYSTEMS DESCRIBED BY IO VECTOR DIFFERENTIAL EQUATIONS

摘要

The natural trackability concept is extended to a large class of time invariant linear systems described by IO vector differential equations. The necessary and sufficient conditions for finite-time and infinite-time global natural trackability are proven. A PD high-gain natural tracking control is synthesized to force a naturally trackable system to exhibit a prespecified elementwise exponential tracking. The adjective natural expresses the features characterized by a control possessing memory, self-learning, self-adaptation, simplicity of the control algorithm, robustness as its ability to guarantee a requested tracking property without measuring any disturbance and without using any mathematical description of the internal dynamics of a system being controlled.