Output feedback control with prescribed performance via funnel pre-compensator
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Publication:2103956
DOI10.1007/S00498-022-00322-5zbMATH Open1505.93069arXiv2202.06791OpenAlexW4293238429MaRDI QIDQ2103956FDOQ2103956
Authors: Lukas Lanza 
Publication date: 9 December 2022
Published in: MCSS. Mathematics of Control, Signals, and Systems (Search for Journal in Brave)
Abstract: We study output reference tracking of systems with high relative degree via output feedback only; this is, tracking where the output derivatives are unknown. To this end, we prove that the conjunction of the funnel pre-compensator with a minimum phase system of arbitrary relative degree yields a system of the same relative degree which is minimum phase as well. The error between the original system's output and the pre-compensator's output evolves within a prescribed performance funnel; and moreover, the derivatives of the funnel pre-compensator's output are known explicitly. Therefore, output reference tracking with prescribed transient behaviour of the tracking error is possible without knowledge of the derivatives of the original system's output; via funnel control schemes for instance.
Full work available at URL: https://arxiv.org/abs/2202.06791
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