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H tracking control for a class of nonlinear systems

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3 Author(s)
Ball, J.A. ; Dept. of Math., Virginia Polytech. Inst. & State Univ., Blacksburg, VA, USA ; Kachroo, P. ; Krener, Arthur J.

Develops the theory for tracking control using the nonlinear H control design methodology for a class of nonlinear input affine systems. The authors use a two-step process of first designing the feedforward part of the controller to design for perfect trajectory following and then design the feedback part of the controller using nonlinear H regulator theory. Results for infinite-time and finite-time horizons are presented

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Automatic Control, IEEE Transactions on  (Volume:44 ,  Issue: 6 )