Funnel control for a moving water tank

We study tracking control for a nonlinear moving water tank system modeled by the linearized Saint-Venant equations, where the output is given by the position of the tank and the control input is the force acting on it. For a given reference signal, the objective is that the tracking error evolves within a pre-specified performance funnel. Exploiting recent results in funnel control, this can be achieved by showing that inter alia the system's internal dynamics are bounded-input, bounded-output stable