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

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.
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https://hal.archives-ouvertes.fr/hal-01646745
Contributor : Jean-François Trégouët <>
Submitted on : Thursday, November 23, 2017 - 5:11:00 PM
Last modification on : Tuesday, April 7, 2020 - 2:01:56 AM

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Lorenzo Ntogramatzidis, Jean-François Trégouët, Robert Schmid, Augusto Ferrante. A tutorial on the globally monotonic tracking control problem with geometric techniques. 55th IEEE CDC, Dec 2016, Las Vegas, NV, United States. ⟨10.1109/CDC.2016.7799020⟩. ⟨hal-01646745⟩

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