Decentralized Model Following Controllers for a Class of Large Scale Interconnected Dynamical Systems with Uncertainties

Abstract

The problem of decentralized robust tracking and model following is considered for a class of large scale interconnected systems with uncertainties. A class of linear decentralized state feedback controllers are proposed for robust tracking of dynamical signals in such a class of uncertain large scale systems. The proposed decentralized tracking controllers can guarantee that the tracking errors between each subsystem and local reference model are uniformly ultimately bounded. Moreover, we modify the linear controllers by introducing some nonlinear parts so that the tracking errors decrease asymptotically to zero in the presence of uncertain parameters and interconnection terms. Finally, an illustrative example is given to demonstrate the validity of our results.