Performance limitations in reference tracking and path following for nonlinear systems

Abstract

We investigate limits of performance in reference-tracking and path-following and highlight an essential difference between them. For a class of nonlinear systems, we show that in reference-tracking, the smallest achievable L2 norm of the tracking error is equal to the least amount of control energy needed to stabilize the zero-dynamics of the error system… (More)
DOI: 10.1016/j.automatica.2007.06.030

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