Robustness of funnel control in the gap metric

@article{Ilchmann2010RobustnessOF,
  title={Robustness of funnel control in the gap metric},
  author={Achim Ilchmann and Markus Mueller},
  journal={49th IEEE Conference on Decision and Control (CDC)},
  year={2010},
  pages={609-614}
}
For m-input, m-output, finite-dimensional, linear systems satisfying the assumptions (i) minimum phase, (ii) relative degree one and (iii) positive high-frequency gain), the funnel controller achieves output regulation in the following sense: all states of the closed-loop system are bounded and, most importantly, transient behaviour of the tracking error is ensured such that its evolution remains in a performance funnel with prespecified boundary. As opposed to classical adaptive high-gain…