Dynamic Tracking with Zero Variation and Disturbance Rejection Applied to Discrete-Time Systems

The problem of signal tracking in discrete linear time invariant systems, in the presence of a disturbance signal in the plant, is solved using a new zero-variation methodology. A discrete-time dynamic output feedback controller is designed in order to minimize the H-infinity norm between the exogen input and the output signal of the system, such that the effect of the disturbance is attenuated. Then, the zeros modification is used to minimize the H-infinity norm from the reference input signal to the error signal. The error is taken as the difference between the reference and the output signal. The proposed design is formulated in linear matrix inequalities (LMIs) framework, such that the optimal solution of the stated problem is obtained. The method can be applied to plants with delay. The control of a delayed system illustrates the effectiveness of the proposed method.