Tracking and regulation refers to the ability of a control system to track/reject a given family of reference/disturbance signals modelled as solutions of a differential/difference equation. The problem can be posed as a stabilization problem with a constraint on the steady-state response of the system. For linear, time-invariant, systems the problem can be solved provided a system of linear matrix equations admits a solution. Properties of this system of equations are discussed, together with a general property of all controllers achieving tracking and regulation: the so-called internal model principle.
Linear systems Tracking Regulation Internal model principle
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