Optimality principles and decomposition of tracking controllers for weakly dual redundant systems
In this paper, the problem of optimizing the output regulation of a weakly dual redundant plant is addressed. When the system is underactuated, only a subset of the outputs can be arbitrarily controlled and the remaining ones are constrained. With a specific focus on the asymptotic output tracking problem for single-input systems, we investigate the connection between the overall optimal input and the individually optimal controllers, which leads to the perfect tracking of each output reference.