Control and safe continual learning of output-constrained nonlinear systems
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Publication:6428068
Abstract: We consider output reference tracking for nonlinear systems with arbitrary relative degree via sampled-data feedback control. We propose a novel sample-and-hold controller, which achieves output reference tracking with prescribed transient behaviour of the tracking error. Furthermore, we derive explicit bounds on the maximal input signal and the uniform sampling time such that the proposed controller is feasible for all times. The results are numerically illustrated with a mass on car example.
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