Tootfinder

High-gain model-following control for trajectory tracking
Nicals Tietze, Kai Wulff, Johann Reger
https://arxiv.org/abs/2506.13463 https://

High-gain model-following control for trajectory tracking
We consider trajectory tracking for minimum-phase nonlinear systems in Byrnes-Isidori form using the model-following control (MFC) architecture. The tracking problem is motivated by a hierarchical control concept where a higher-level instance provides the reference trajectory at run-time. We present a computational efficient implementation of the feedback linearisation MFC design, and apply high-gain feedback in the process control loop (PCL) to achieve practical tracking in presence of Lipschi…