Parameterization of Outputs Tracking to Reference Asymptotically and Achievable by Bounded Inputs

This paper deals with trajectory tracking control for non-minimum phase systems. We characterize outputs such that those track to a given reference signal asymptotically and that the corresponding inputs are bounded. More specifically, we parameterize the error signals between the reference and the achievable outputs by using Q-parameters in the frequency domain. By using the parameterization, the simultaneous optimization of the error and the input deviation from the steady state input can be solved. The effectiveness of the proposed method is examined by numerical examples