Tracking Control with Ellipsoidal Disturbance Attenuation

The paper discusses the issue of disturbance attenuation in the linear tracking control problem. The disturbances are assumed to be bounded and the invariant ellipsoid method of controller design is adopted. The problem is posed in two versions depending on the measurability of the state vector. For the state-feedback problem the previously unknown necessary and sufficient conditions are given and the exact procedure for calculating the controller parameters is presented. For the output-feedback problem the sufficient conditions and the approximate procedure for calculating the controller parameters are outlined. The results are validated by the numerical experiments.