Discontinuous feedback in nonlinear tracking problems (Q2563801)

The authors consider a tracking problem. Namely, the goal is to find a feedback for a differential inclusion such that the associated trajectory converges -- with exponential decay \((e^{-ab})\) -- to the solution of a given linear control system. For suitable Lyapunov-like functions, the authors prove that the problem is solvable by using a suitable concept of solution (Filippov solution) because the proposed feedback is -- in general -- discontinuous. Various choices of Lyapunov-like functions are considered to solve the problem. Some relevant examples are discussed. The paper is very interesting for this kind of problem.