Robust tracking and model following control with zero tracking error for uncertain dynamical systems

The problem of robust tracking and model following for a class of linear dynamical systems with time-varying uncertain parameters and disturbances is considered. A class of continuous (nonlinear) state feedback controllers is proposed for robust tracking of dynamical signals. The proposed robust tracking controllers can guarantee that the tracking error decreases asymptotically to zero in the presence of uncertain parameters and disturbances. A procedure for designing such a zero tracking state feedback controller is also introduced. Finally, a numerical example is given to demonstrate the validity of the results.