Performance limitation of tracking control problem for a class of references

This paper deals with analysis of fundamental limitations in tracking control problems. In the existing results, the fundamental limitations are analyzed based on detailed assumptions of reference signals such as the step, the trigonometrical signals and so on. On the other hand, we define a class of reference signals in a general manner. For the general class of reference inputs, we give the analysis of the tracking performance limitations. The obtained results extend the existing ones and give a uniform description. Moreover, the analysis results clearly separate the contributions of the plant and the reference characteristics. The results are illustrated by examples.