A discontinuous integral action for robust output tracking in uncertain linear systems

In this article, a solution to the output tracking problem is proposed for linear systems affected by external disturbances. The proposed robust control approach has a discontinuous integral term that provides exact and finite-time convergence to zero of the output tracking error in the presence of external disturbances. The proposed nonlinear controller is non-homogeneous. A constructive method to compute the controller gains is provided in order to ensure the convergence to zero of the output tracking error. Some simulation results are presented in order to illustrate the feasibility of the proposed robust control approach.