On Discrete-Time Feedforward Asymptotic Tracking Controllers

A feedforward design formulation for asymptotic tracking controllers is presented for linear multivariable systems under discrete-time control. The control scheme is based upon the use of future set points along reference trajectories with known models. One advantage of the control scheme is that it does not require the derivative states of the reference trajectory explicitly during its operation. As a result, apart from numerical noise reduction, the autonomous trajectory generation algorithms need not be tightly coupled to the control algorithm for purpose of real time execution.