Asymptotic tracking of a state reference for systems with a feedforward structure

We are concerned with the problem of the asymptotic tracking of a given state reference for a system which can be written in a feedforward form. The state reference is assumed to be given as a particular bounded solution of the system. Our solution relies on the construction of a control Lyapunov function for the error system. It gives a time-varying state feedback which meets saturation constraints and ensures the global uniform asymptotic stability and the local exponential stability of the state reference. A practical example illustrates our central result.