Design of two-degree-of-freedom tracking controller for constrained descriptor systems

This paper proposes a design of tracking controller using full-information method for constrained mechanical systems, which belong to a quasi-causal class of descriptor systems. First, to solve this problem, the original descriptor system is decomposed to the reliable stair-case form of matrix pencils. Secondly, the tracking control and H_∞ full-information approach are solved under the explicit existence conditions of similar forms as those in the cases of state-space systems. Thus, the tracking problem is addressed as a model following method and full-information control is considered for augmented system with a nominal control constraint. Finally, to demonstrate the effectiveness of the proposed method, simulation results are presented for the numerical model of SICE-DD Arm.