A contraction approach to input tracking via high gain feedback

  title={A contraction approach to input tracking via high gain feedback},
  author={Abdullah Hamadeh and Eduardo D. Sontag and Domitilla Del Vecchio},
  journal={2015 54th IEEE Conference on Decision and Control (CDC)},
This paper adopts a contraction approach to study exogenous input tracking in dynamical systems under high gain proportional output feedback. We give conditions under which contraction of a nonlinear system's tracking error implies input to output stability from the input signal's time derivatives to the tracking error. This result is then used to demonstrate that the negative feedback connection of plants composed of two strictly positive real subsystems in cascade can follow external inputs… CONTINUE READING


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