Hierarchical tracking implementation

The recently introduced concept of system abstraction appears to be a promising tool for control purposes in a hierarchical framework. A challenging field of research is the so-called control implementation, i.e. how a high-level control law designed for an abstraction can be executed by the low-level original system. In this paper we extend, in a linear framework, some preliminary results obtained for state stability implementation to the more general target of output zeroing and tracking implementation.