4.2 TRACKING

---

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.

4.2.1 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.