Performance limits with preview information and actuator rate constraints

This paper considers the limits of disturbance rejection performance with preview information subject to actuator rate constraints. A one-state, continuous-time optimal control problem is formulated to investigate these limits. The optimal control action which minimizes the peak tracking error is explicitly characterized using Lagrange duality theory. In addition, the optimal tracking performance as a function of preview time is provided. There is a fundamental preview time beyond which no performance improvements are obtained.