Output Tracking Based on Reduced-Order Observer for Fully Actuated Systems

In this paper, an output tracking control scheme based on the reduced-order observer is proposed for fully actuated systems. First, to make more use of the output information, a reduced-order observer is designed, and a linear matrix inequality condition is given to solve the observer gain. The estimated values of the observer can converge to the true values exponentially. Second, taking advantage of the full-actuation property, an output tracking controller based on the above observer is designed such that the system output tracks a given signal, and the condition for exponential convergence of the tracking error is also given. An example is provided to show the effectiveness of the proposed approach.