{"paper":{"title":"Robust Tracking Control for Nonlinear Systems: Performance optimization via extremum seeking","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"eess.SY","authors_text":"Jiapeng Xu, Xiang Chen, Ying Tan","submitted_at":"2023-03-31T21:23:40Z","abstract_excerpt":"This paper presents a controller design and optimization framework for nonlinear dynamic systems to track a given reference signal in the presence of disturbances when the task is repeated over a finite-time interval. This novel framework mainly consists of two steps. The first step is to design a robust linear quadratic tracking controller based on the existing control structure with a Youla-type filter $\\tilde Q$. Secondly, an extra degree of freedom: a parameterization in terms of $\\tilde Q$, is added to this design framework. This extra design parameter is tuned iteratively from measured t"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2304.00138","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2304.00138/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}