Model Tracking Control for Fully Actuated Second-Order Dynamical Systems

This work deals with the tracking control problem for general second-order dynamics with an fully actuated form. For the signal generated by the reference model, a tracking controller is designed to achieve asymptotic following of the reference signal, ensuring smooth trajectories of the state and its derivatives. The controller is described by a feedback plus compensation structure that satisfies the desired tracking requirements while the resulting closed-loop system remains constant. Further benefiting from the solution of the second-order Sylvester equation, the parameterized control gains obtained are complete and have clear degrees of freedom. An illustrative demonstration is shown to highlight the relevant results.