We study output reference tracking for unknown continuous-time systems with arbitrary relative degree. The control objective is to keep the tracking error within predefined time-varying bounds while measurement data is only available at discrete sampling times. To achieve the control objective, we propose a two-component controller. One part is a recently developed sampled-data zero-order hold controller, which achieves reference tracking within prescribed error bounds. To further improve the control signal, we explore the system dynamics via input-output data, and include as the second component a data-driven MPC scheme based on Willems et al.'s fundamental lemma. This combination yields significantly improved input signals as illustrated by a numerical example.
@article{arxiv.2312.08734,
title = {Safe data-driven reference tracking with prescribed performance},
author = {Philipp Schmitz and Lukas Lanza and Karl Worthmann},
journal= {arXiv preprint arXiv:2312.08734},
year = {2023}
}