On Limitations to the achievable path following performance for linear multivariable plants

Miller, Daniel E. and Middleton, Richard H. (2008) On Limitations to the achievable path following performance for linear multivariable plants. IEEE Transactions on Automatic Control. ISSN 0018-9286

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In this paper, we consider a problem termed “path following”. This differs from the common problem of reference tracking, in that here we can adjust the speed at which we traverse the reference trajectory. We are interested in ascertaining the degree to which we can track a given trajectory, and in characterizing the class of paths for which we can generate an appropriate temporal specification so that the path can be tracked arbitrarily well in an L2 sense.We give various bounds on the achievable performance, as well as tight results in special cases. In addition, we give a numerical procedure based on convex optimization for computing the achievable performance. The results demonstrate that there are situations where arbitrarily good L2 performance may be achieved even though the origin is not in the convex hull of the positive limit set of the path to be followed.

Item Type: Article
Keywords: Performance limitations; Nonminimum phase systems; Path following; Tracking; Hamiliton Institute.
Academic Unit: Faculty of Science and Engineering > Research Institutes > Hamilton Institute
Item ID: 1683
Depositing User: Hamilton Editor
Date Deposited: 23 Nov 2009 16:50
Journal or Publication Title: IEEE Transactions on Automatic Control
Publisher: IEEE
Refereed: Yes

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