Tracking control for a class of measure differential inclusions

In this paper, we study the tracking problem for Lur¿e-type measure differential inclusions. The framework of measure differential inclusions allows us to describe systems with discontinuities in the state evolution, such as mechanical systems with unilateral constraints. As a stepping stone, we present results on the stability of time-varying solutions of such systems in the scope of the convergence property. Next, this property is exploited to provide a solution to the tracking problem. The results are illustrated by application to a mechanical motion system with a unilateral velocity constraint.