Asymptotic Tracking via Funnel Control

Funnel control is a powerful and simple method to solve the output tracking problem without the need of a good system model, without identification and without knowlegde how the reference signal is produced, but transient behavior as well as arbitrary good accuracy can be guaranteed. Until recently, it was believed that the price to pay for these very nice properties is that only practical tracking and not asymptotic tracking can be achieved. Surprisingly, this is not true! We will prove that funnel control - without any further assumptions - can achieve asymptotic tracking.