Additive-output-decomposition-based dynamic inversion tracking control for a class of uncertain linear time-invariant systems

In this paper, the tracking control problem is investigated for a class of uncertain single-input single-output (SISO) linear time-invariant (LTI) systems. In a practical control system, uncertainties include parametric uncertainties, unmodeled dynamics, time delay and disturbances, which are too many and complicated to observe or know. By taking this into account, a new tracking controller design method is proposed, called the additive-output-decomposition-based dynamic inversion tracking control. The main idea is to lump all uncertainties together at the output by the proposed additive output decomposition. Then the transformed problem is handled by the dynamic inversion method. To demonstrate its effectiveness, the proposed tracking controller design is applied to two benchmark examples.