Robust model following controllers guaranteeing zero-tracking error for uncertain systems including delayed state perturbations

The problem of robust tracking and model following is considered for a class of linear systems with delayed state perturbations, time-varying uncertain parameters, and disturbance. A class of continuous memoryless state feedback controllers are proposed for robust tracking of dynamical signals. The proposed robust tracking-controllers can guarantee that the tracking error decreases asymptotically to zero in the presence of delayed state perturbations, time-varying uncertain parameters, and disturbance. A procedure for designing such a class of zero-tracking state feedback controllers is also introduced. Finally, a numerical example is given to demonstrate the validity of the results