Optimal tracking and two-channel disturbance rejection under control energy constraint

In this paper, the optimal tracking problem under control energy constraint is studied. The disturbance in the upstream channel and down channel is adequately considered. Some new results are derived and it is shown that the performance limitation is tightly dependent on the non-minimum phase zeros and the unstable poles. In addition, the performance limitation, which is greater than that of the disturbance only in the down channel, depends on other new non-minimum phase zeros. Finally, the example explains and validates the conclusion.