Abstract
An infinitely rigid mass subject to friction, with mass and linear damping factor being in general not known exactly, is considered, moving on a planar region delimited by a rigid elliptical barrier ( <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">elliptical</i> <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">billiards</i> ) under the action of proper control forces. The robust tracking control problem for a class of periodic trajectories, involving nonsmooth impacts between the mass and the barrier at fixed times is stated and solved by means of a controller based on the internal model principle and whose state is subject to discontinuities.
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