A tutorial on the globally monotonic tracking control problem with geometric techniques

Ntogramatzidis, Lorenzo; Tregouet, J.; Schmid, R.; Ferrante, A.

doi:10.1109/CDC.2016.7799020

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Authors

Ntogramatzidis, Lorenzo

Tregouet, J.

Schmid, R.

Ferrante, A.

Date

2016

Type

Conference Paper

Metadata

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Citation

Ntogramatzidis, L. and Tregouet, J. and Schmid, R. and Ferrante, A. 2016. A tutorial on the globally monotonic tracking control problem with geometric techniques, 55th Conference on Decision and Control, pp. 4913-4918.

Source Title

2016 IEEE 55th Conference on Decision and Control, CDC 2016

DOI

10.1109/CDC.2016.7799020

ISBN

9781509018376

School

Department of Mathematics and Statistics

URI

http://hdl.handle.net/20.500.11937/52055

Collection

Curtin Research Publications

Abstract

In this paper we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a constant step reference at any desired rate of convergence for any initial condition. This framework shows that for MIMO LTI systems the objectives of achieving a rapid settling time, while at the same time avoiding overshoot and/or undershoot, are not necessarily competing objectives.