| Title | Necessary and Sufficient Conditions for Robust Perfect Tracking under Variable Structure Control |
| Publication Type | Journal Article |
| Year of Publication | 2003 |
| Authors | Balluchi, A, Bicchi, A |
| Journal | International Journal of Robust and Nonlinear Control |
| Volume | 13 |
| Issue | 2 |
| Pagination | 141-151 |
| Date Published | 02/2003 |
| Keywords | Embedded Control, Robotics |
| Abstract | The tracking control of linear MIMO systems with structured uncertainty is considered. A necessary and sufficient condition for robust asymptotic tracking employing variable structure techniques in the presence of multiplicative uncertainty is derived. The constructive proof of the theorem provides an explicit formula for controller synthesis. |
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 [PDF] | 215.43 KB |