• In tracking controllers we assume that the setpoint will be moving. As a result we will focus on a desired error function, instead of an overall transfer function.


• To do this we must first develop a function that relates the elements of the control loop, to the desired error response,



• Specific controllers can be developed using the relationships used for the positioning controllers.


• As an example tracking control would be needed in your hand for curved letters, positioning would result in block letters.



1.2.1 Minimum Error


• The method behind this controller is very similar to the deadbeat controller, we try to eliminate the error in a single step,



• Find a controller for the transfer function given below, assuming a ramped input with a sampling time of 0.2 seconds. Use a maximum error of 0.02.




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