Robust controller synthesis in the tracking problem under uncertainty conditions (Q1594228)

This paper is concerned with the problem of tracking a reference signal at a constant velocity by a controllable object that includes an uncertain nonlinear block with nonmeasurable inputs and outputs. While the tracking problem can be reduced to one of stability, special features of the former result in a system that is neither completely controllable nor observable. Brusin presents an extended system of a special form that can be made completely controllable and therefore stabilizable.