Tracking Controller Design with Preview Action for a Class of Lipschitz Nonlinear Systems and its Applications

This paper addresses the problem of output tracking control with preview action for a class of Lipschitz nonlinear systems. By adopting a backward difference approach, an augmented error system is successfully constructed that fully utilizes the available future information in the reference signal as well as disturbances. The output tracking control problem with preview action is thereby reduced to a stabilization problem. Then, both the state feedback controller and the static output feedback controller are systematically developed. With the aid of the S-procedure and auxiliary matrix variable approach, sufficient design conditions for the asymptotic stability of the closed-loop system are presented through linear matrix inequality formulation. Based on these criteria, two novel output tracking control laws are derived. Finally, two numerical examples are provided to highlight the effectiveness and superiority of the proposed control methodologies in terms of enhancing the overall tracking performance of the system.