Robust tracking and disturbance rejection under physical parameter uncertainties for polynomial-exponential signals

The robust asymptotic tracking and disturbance rejection problem is solved for linear time-invariant systems whose matrices are assumed to depend on some parameters (each of which possibly affects all the elements of the matrices describing the system, thus playing the role of a physical parameter) and for classes of disturbance functions and reference signals of the polynomial-exponential type. It is assumed that reference commands exist only for some of the controlled outputs (i.e., that some scalar outputs must only be regulated), and that different subvectors of the reference vector are characterized by different classes of signals. The application of the theory developed to a flexible robot arm is presented