Robust tracking method for uncertain MIMO systems of realistic trajectories

In this paper new results which allow to determine the performances of a given control system with integral action, with uncertain MIMO plant and with reference and disturbance having bounded derivative, are provided. Moreover, other useful theorems are stated to design a controller forcing an uncertain MIMO system to track a generic reference signal with bounded derivative in presence of a generic disturbance with bounded derivative, with prefixed maximum time constant and error. The used approach is based on the determination of a first-order majorant system of an appropriate representation of the control system by calculating the eigenvalues of suitable matrices only in correspondence of the extreme values of the uncertain parameters. The utility and the efficiency of the proposed methods are illustrated with two significant examples.