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Globally Monotonic Tracking Control of Multivariable Systems

Abstract : In this technical note we present a method for designing a linear time invariant (LTI) state-feedback controller to monotonically track a step reference at any desired rate of convergence for any initial condition. This method is developed for multi-input multi-output (MIMO) systems, and can be applied to strictly/nonstrictly proper systems, and also minimum/nonminimum-phase systems. This framework shows that for MIMO systems the objectives of achieving a rapid settling time, while at the same time avoiding overshoot/undershoot, are not always competing objectives.
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Contributor : Jean-François Trégouët <>
Submitted on : Tuesday, January 15, 2019 - 6:11:24 PM
Last modification on : Tuesday, February 16, 2021 - 10:10:09 AM

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Lorenzo Ntogramatzidis, Jean-François Trégouët, Robert Schmid, Augusto Ferrante. Globally Monotonic Tracking Control of Multivariable Systems. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2016, 61 (9), pp.2559-2564. ⟨10.1109/TAC.2015.2495582⟩. ⟨hal-01982628⟩



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