Skip to main content
Open Access Publications from the University of California

Path-following for nonminimum phase systems removes performance limitations

  • Author(s): Aguiar, A P
  • Hespanha, Joao P
  • Kokotovic, P V
  • et al.

We highlight an essential difference between path-following and reference-tracking for nonminimum phase systems. It is well known that in the reference-tracking, for nonminimum phase systems, there exists a fundamental performance limitation in terms of a lower bound on the L-2-norm of the tracking error, even when the control effort is free. We show that this is not the case for the less stringent path-following problem, where the control objective is to force the output to follow a geometric path without a timing law assigned to it. Furthermore, the same is true even when an additional desired speed assignment is imposed.

Many UC-authored scholarly publications are freely available on this site because of the UC Academic Senate's Open Access Policy. Let us know how this access is important for you.

Main Content
Current View