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Path-following for nonminimum phase systems removes performance limitations

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3 Author(s)
A. P. Aguiar ; Center for Control Eng. & Comput., Univ. of California, Santa Barbara, CA, USA ; J. P. Hespanha ; P. V. Kokotovic

We highlight an essential difference between path-following and reference-tracking for nonminimum phase systems. It is well known that in the reference-tracking, for nonminimum phase systems, there exists a fundamental performance limitation in terms of a lower bound on the L2-norm of the tracking error, even when the control effort is free. We show that this is not the case for the less stringent path-following problem, where the control objective is to force the output to follow a geometric path without a timing law assigned to it. Furthermore, the same is true even when an additional desired speed assignment is imposed.

Published in:

IEEE Transactions on Automatic Control  (Volume:50 ,  Issue: 2 )