A perspective on using input reconstruction for command following

Abstract

In this short note, we present a perspective on viewing tracking control problems as input reconstruction problems and thereby suggesting that input reconstruction methods are naturally suited for tracking problems. This perspective not only helps clarify connections between tracking control and input reconstruction, but also helps the control user take advantage of existing input reconstruction methods for developing tracking controllers. We further clarify this perspective with the help of an illustrative set of methods and numerical results. We provide some analysis and commentary on various situations highlighting the limitations and strengths of this approach.