Funnel Control Via Funnel Precompensator for Minimum Phase Systems With Relative Degree Two

Abstract

We consider tracking control for linear minimum phase single-input, single-output systems with relative degree two. For a class of sufficiently smooth reference signals, we introduce a dynamic controller which achieves that the tracking error evolves within a prespecified performance funnel. This controller is based on the recently developed funnel precompensator combined with a proportional-derivative funnel controller. Altogether, this yields a dynamic controller which satisfies the control objective and uses only the output of the system and NOT the derivative of the output. The system parameters do not have to be known for the controller design.