Elementwise stablewise tracking with finite reachability time: Linear time-invariant continuous-time MIMO systems
An object to be controlled together with sensors and final controller devices (e.g. actuators) is described by the system \[ \dot x = Ax + Bu + Dd,\qquad y = Cx + Eu + Fd, \tag{1} \] with the state vector \(x\in\mathbb R^n\), the control vector \(u\in\mathbb R^M\), the disturbance vector \(d\in\mathbb R^p\) and the output vector \(y\in\mathbb R^M\). The matrices \(A, B,\dots,F\) have the appropriate dimensions, and \(E\neq 0\). Three new qualitative control concepts are introduced and developed in the framework of the system (1): natural trackability, elementwise and stablewise tracking, and natural tracking control. The study of these concepts opens new problems in control science, which are solved in the form of their necessary and sufficient conditions. Different physical natures and/or purposes of the system output variables, as well as their mutual independence, may require that each output be assigned a specific settling time and/or a reachability time. Such times compose corresponding vector times. The natural tracking control ensures elementwise output tracking which obeys a prespecified vector settling time and/or vector reachability time. A controller should use information only about the system output error and the realized control itself in order for the control to be a natural tracking control. But the controller does not use any information about the system internal dynamics description, system state and external disturbances. The necessary and sufficient conditions for the stability of systems that exhibit tracking are proved. They permit possible independent and separate synthesis of a stabilizing control and of a tracking control. Two SISO system examples show the separation between the properties of stability and tracking. A fourth-order MIMO example system is shown to exhibit stablewise, elementwise, prespecified tracking for time-varying, unknown, unmodelled disturbances and time-varying desired outputs.
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