Limitations on maximal tracking accuracy, Part 2 : Tracking sinusoidal and ramp signals

Research output: Journal Publications and ReviewsRGC 22 - Publication in policy or professional journal

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Original languageEnglish
Pages (from-to)1757-1761
Journal / PublicationProceedings of the American Control Conference
Publication statusPublished - 1997
Externally publishedYes


TitleProceedings of the 1997 American Control Conference. Part 3 (of 6)
CityAlbuquerque, NM, USA
Period4 - 6 June 1997


This paper continues an earlier work on optimal tracking problems with respect to multivariable feedback systems. We examine the error between a system's output response and its command input, which is either a sinusoidal or a ramp signal. This error is quantified under an integral square criterion, and is adopted as a measure of tracking accuracy. For both sinusoidal and ramp signals, we derive explicit expressions of the minimal tracking error attainable by all possible stabilizing controllers. These results show that the tracking accuracy may be fundamentally limited by plant nonminimum phase zeros and unstable poles together with their spatial properties, in ways dependent upon the command input signals.