Position funnel control with linear internal model

This paper presents funnel control (FC) with derivative feedback in conjunction with internal model (IM) for relative-degree-two systems and its application for position control of stiff one-mass systems (1MS). The funnel controller guarantees reference tracking with `prescribed transient accuracy´, i.e. tracking error (difference between reference and regulated output) and its derivative evolve within a prescribed bounded region (the `performance funnel´). The additional use of an internal model improves tracking accuracy and disturbance rejection. Comparative measurement results are shown for different internal models.