Publikationen

Three related but distinct scenarios for tracking control of uncertain systems are reviewed: asymptotic tracking, approximate tracking with prescribed asymptotic error bound, tracking with prescribed transient behaviour. A variety of system classes are considered, ranging from finite-dimensional linear minimum-phase systems to nonlinear, infinite-dimensional systems described by functional differential equations. These classes are determined only by structural assumptions, such as stable zero dynamics and known relative degree. The objective is a single (and simple) control structure which is effective for every member of the underlying system class: no attempt is made to identify the particular system being controlled.