Nonlinear target control under bounded disturbance input

The authors consider the problem of a target control for a discrete-time linear system with bounded disturbance input. The target is an ellipsoid in an n-dimensional Euclidean space. The nonlinear closed-loop strategies are calculated by employing the notion of a safety tube. The introduction of an auxiliary function allows the construction of the safety tube and evaluation of the control strategies. The latter take the form of two procedures, for the positions inside and outside the safety tube, respectively