Design of linear multivariable continuous-time tracking systems incorporating high-gain error-actuated controllers

Abstract

In this paper, the class of linear multivariable continuous-time plants which are amenable to high-gain error-actuated control is characterized in terms of the relatively prime polynomial matrix factors of the transfer function matrices of such plants. It is shown that this characterization greatly facilitates the design of high-gain error-actuated controllers, and the resulting synthesis technique is illustrated by designing such a controller for a third-order plant with two inputs and two outputs.