Tracking Control Based on Numerical Methods

This work proposes a methodology to find a control structure such that a system may follow a pre-established trajectory. To accomplish this, a system of linear equations should be solved for each sampling period. This approach can be applied to systems that are either linear or non-linear, time-varying or non-varying. For the case of non-minimal phase, a trajectory tracking is made after a finite-time interval. The proposed control structure is simple and acceptably robust under uncertainties about model knowledge. Three cases of study, applying the proposed control structure, are presented: a pendulum with friction, a system of non-minimun phase and a trajectory control of a mobile robot. Some conclusions about the performance of the control structure are also sketched.