Tracking controllers design of references with bounded derivative

In this paper new results about the design techniques of controllers for the tracking of references with bounded derivative are stated and presented. They allow to design a controller of a process without zeros and with measurable state, such that the control system is of type one and has assigned constant gain and poles, or such that the control system tracks, with a prefixed maximum error, a generic reference with bounded derivative also when there is a generic disturbance with bounded derivative. The utility and efficiency of the proposed methods are illustrated with an attractive and significant example of position control.