Tracking and disturbance rejection for fully actuated mechanical systems

Bayu Jayawardhana, George Weiss

Research output: Contribution to journalArticlepeer-review


In this paper, we solve the tracking and disturbance rejection problem for fully actuated passive mechanical systems. We assume that the reference signal r and its first two derivatives over(r, ̇), over(r, ̈) are available to the controller and the disturbance signal d can be decomposed into a finite superposition of sine waves of arbitrary but known frequencies and an arbitrary L2 signal. We combine the internal model principle with the ideas behind the Slotine-Li adaptive controller. The internal model-based adaptive controller that we propose causes the closed-loop state trajectories to be bounded, and the tracking error and its derivative to converge to zero, without any prior knowledge of the plant parameters. An important part of our results is that we prove the existence and uniqueness of the state trajectories of the closed-loop system.

Original languageEnglish
Pages (from-to)2863-2868
Number of pages6
Issue number11
StatePublished - Nov 2008


  • Adaptive control
  • Fully actuated mechanical system
  • Internal model principle
  • Passive system
  • Slotine-Li controller


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