A robust control algorithm for tracking the command signal with compensation for the parasitic effect of external unbounded disturbances (Q2577210)

Consider the system \(a(D)y = b(D)[u+w]\), where \(D\) is the differentiation operator, \(y\) the output, \(u\) the input, and \(w\) the disturbance. By \(\rho\) we denote the relative degree of \(b/a\). Given a command signal \(y^*\) with bounded derivative up to order \(\rho\), the author designs a control law such that the tracking error \(y-y^*\) is less than a given number for \(t\) large. He does this under the assumptions that the disturbance is bounded by a known function, \(b(p)\) is a Hurwitz polynomial, and that we know a polynomial \(\chi(p)\) of degree \(\rho\) such that \(a(p) + b(p) \chi(p)\) is Hurwitz. The paper is a continuation of earlier paper by the same author [Autom. Remote Control 64, No. 8, 1275--1286 (2003); translation from Avtom. Telemekh. 2003, No. 8, 82--95 (2003; Zbl 1078.93566)].