This paper presents a tracking algorithm based on the utilization of the compound control that enables trajectory tracking with one sampling period delay. The main idea is to realize a discrete control with the period Te by an associated system added to the plant. The initial conditions of the associated system are re-computed at each time step in order to enable a trajectory tracking. The control is called compound because it has to be defined at each time step but it is not constant during one sampling period. It is also shown that the necessary conditions enabling the control computation are the plant controllability and the associated system observability. Therefore the compound control is completely defined by the constant coefficients matrix. This enables the real time implementation of the tracking algorithm. Numerical examples are given.
Associated system, Compound control.
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