A Novel Internal Model-Based Tracking Control for a Class of Linear Time-Varying Systems

摘要

This paper provides a novel method of constructing an internal model-based design ofnreference tracking and/or disturbance rejection for a class of linear time-varying plantsnwith a known linear time invariant (LTI) exosystem. It is shown how the realization of annappropriate time-varying internal model can be constructed by means of a novel feedbacknmechanism. The design of the internal model consists of two ingredients: (1) a time-nvarying system immersion of the exosystem, and (2) an automatic generation of thendesired control input to render the error-zeroing subspace invariant, based on the com-nplete knowledge of the plant model. The important features of the proposed method lie innthat the tracking problem setup and the proposed feedback mechanism allow us to avoidnexplicitly calculating the desired input, which keeps the regulated error identically atnzero. Moreover the time-varying immersion is guaranteed to hold for the class of plantnmodels under consideration. These features significantly broaden the range of applica-ntions of the proposed method, and simplify the control implementationnprocess. u0001DOI: 10.1115/1.4000071