Abstract
In this paper, we consider a design problem of robust nonlinear servosystems which can achieve asymptotic tracking for constant reference inputs. The problem setting in this paper is a little bit different from the usual one. We suppose that the reference input will change from r to r* at time t = 0 and that the initial state of the system is located in a neighborhood of the equilibrium corresponding to the reference input r. Under this setting, we consider a design problem of robust nonlinear servosystems : we consider an augment system including the integrator, design a state feedback gain for the augment system using LMI, and give an input r (t) interpolating r and r* so that the state moves the prescribed regions depending r (t) and consequently the output converges to r*.
