Title: An Input Reconstruction Approach for Command Following in Linear MIMO Systems,
Abstract: The idea of posing a command following or tracking control problem as an
input reconstruction problem is explored in the paper. For a class of square
MIMO systems with known dynamics, by pretending that reference commands are
actual outputs of the system, input reconstruction methods can be used to
determine control action that will result in a system following desired
reference commands. A feedback controller which is a combination of an unbiased
state estimator and an input reconstructor that ensures unbiased tracking of
reference commands is proposed. Simulations and real-time implementation are
presented to demonstrate utility of the proposed idea. Conditions under which
proposed controller may be used for non-square systems are also discussed.