Path-following for nonminimum phase systems removes performance limitations

• Type: Article in International Scientific Journal
• Date: 2005

Authors

Aguiar, AP (Author) Other; Hespanha, JP (Author) Other; Kokotovic, PV (Author) Other

Journal

Title: IEEE Transactions on Automatic Control

Vol. 50

Pages: 234-239

ISSN: 0018-9286

Publisher: IEEE

Indexing

ISI Web of Knowledge - 111 Citations

Scopus - 149 Citations

Scientific classification

FOS: Engineering and technology > Electrical engineering, Electronic engineering, Information engineering

Other information

Authenticus ID: P-008-SD9

DOI: 10.1109/tac.2004.841924

Abstract (EN): We highlight an essential difference between path-following and reference-tracking for nonminimum phase systems. It is well known that in the reference-tracking, for nonminimum phase systems, there exists a fundamental performance limitation in terms of a lower bound on the L-2-norm of the tracking error, even when the control effort is free. We show that this is not the case for the less stringent path-following problem, where the control objective is to force the output to follow a geometric path without a timing law assigned to it. Furthermore, the same is true even when an additional desired speed assignment is imposed.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 6