Asymptotic tracking with infinite gain margin through linear periodic control

In this paper the problem of the asymptotic tracking and stabilization with infinite gain margin, with the additional requirement of a prescribed rate of convergence of the free responses, is addressed for linear time-invariant discrete-time multivariable systems. Sufficient conditions for the solvability of the problem by means of a linear periodic discrete-time output feedback dynamic compensator are derived. A procedure is given for designing the proposed periodic controller, whose structure is based on the internal model principle. Copyright ((C)) 2000 IFAC