{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,17]],"date-time":"2025-09-17T21:06:13Z","timestamp":1758143173389,"version":"3.44.0"},"reference-count":62,"publisher":"Walter de Gruyter GmbH","issue":"8","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2025,8,26]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>We consider trajectory tracking for minimum-phase nonlinear systems in Byrnes-Isidori form using the model-following control (MFC) architecture. The tracking problem is motivated by a hierarchical control concept where a higher-level instance provides the reference trajectory at run-time. We present a computational efficient implementation of the feedback linearisation MFC design, and apply high-gain feedback in the process control loop (PCL) to achieve practical tracking in presence of Lipschitz perturbations. Our main results establish ultimate boundedness of the tracking error and give a constructive bound for the high-gain scaling parameter to achieve arbitrary tracking precision. Further we establish that the peaking phenomenon can be attenuated using MFC. We demonstrate the results via an automotive case study considering advanced engine-based cruise control.<\/jats:p>","DOI":"10.1515\/auto-2025-0047","type":"journal-article","created":{"date-parts":[[2025,8,6]],"date-time":"2025-08-06T14:00:25Z","timestamp":1754488825000},"page":"604-621","source":"Crossref","is-referenced-by-count":0,"title":["High-gain MFC for trajectory tracking"],"prefix":"10.1515","volume":"73","author":[{"given":"Niclas","family":"Tietze","sequence":"first","affiliation":[{"name":"Fachgebiet Regelungstechnik, Technische Universit\u00e4t Ilmenau , PF 10 05 65, 98684 Ilmenau , Germany"}]},{"given":"Kai","family":"Wulff","sequence":"additional","affiliation":[{"name":"Fachgebiet Regelungstechnik, Technische Universit\u00e4t Ilmenau , PF 10 05 65, 98684 Ilmenau , Germany"}]},{"given":"Johann","family":"Reger","sequence":"additional","affiliation":[{"name":"Fachgebiet Regelungstechnik, Technische Universit\u00e4t Ilmenau , PF 10 05 65, 98684 Ilmenau , Germany"}]}],"member":"374","published-online":{"date-parts":[[2025,8,6]]},"reference":[{"key":"2025091715105953187_j_auto-2025-0047_ref_001","unstructured":"I. M. Horowitz, Synthesis of Feedback Systems, New York, USA, Academic Press, 1963."},{"key":"2025091715105953187_j_auto-2025-0047_ref_002","doi-asserted-by":"crossref","unstructured":"H. Aschemann, O. Sawodny, A. Bulach, and E. P. Hofer, \u201cModel based trajectory control of a flexible turntable ladder,\u201d in American Control Conference, Anchorage, USA, 2002, pp.\u00a0921\u2013926.","DOI":"10.1109\/ACC.2002.1023135"},{"key":"2025091715105953187_j_auto-2025-0047_ref_003","doi-asserted-by":"crossref","unstructured":"G. Roppenecker, \u201cZustandsregelung linearer Systeme \u2013 Eine Neubetrachtung,\u201d at \u2013 Automatisierungstechnik, vol.\u00a057, no.\u00a010, pp.\u00a0491\u2013498, 2009, https:\/\/doi.org\/10.1524\/auto.2009.0796.","DOI":"10.1524\/auto.2009.0796"},{"key":"2025091715105953187_j_auto-2025-0047_ref_004","doi-asserted-by":"crossref","unstructured":"C. Wurmthaler and A. K\u00fchnlein, \u201cModellgest\u00fctzte Vorsteuerung f\u00fcr messbare St\u00f6rungen,\u201d at \u2013 Automatisierungstechnik, vol.\u00a057, no.\u00a07, pp.\u00a0328\u2013331, 2009.","DOI":"10.1524\/auto.2009.0782"},{"key":"2025091715105953187_j_auto-2025-0047_ref_005","doi-asserted-by":"crossref","unstructured":"M. Zeitz, \u201cVorsteuerungs-Entwurf im Frequenzbereich: Offline oder Online,\u201d at \u2013 Automatisierungstechnik, vol.\u00a060, no. 7, pp.\u00a0375\u2013383, 2012, https:\/\/doi.org\/10.1524\/auto.2012.1013.","DOI":"10.1524\/auto.2012.1013"},{"key":"2025091715105953187_j_auto-2025-0047_ref_006","doi-asserted-by":"crossref","unstructured":"U. Schaper, C. Dittrich, E. Arnold, K. Schneider, and O. Sawodny, \u201c2-DOF skew control of boom cranes including state estimation and reference trajectory generation,\u201d Control Eng. Pract., vol.\u00a033, no.\u00a012, pp.\u00a063\u201375, 2014, https:\/\/doi.org\/10.1016\/j.conengprac.2014.09.009.","DOI":"10.1016\/j.conengprac.2014.09.009"},{"key":"2025091715105953187_j_auto-2025-0047_ref_007","doi-asserted-by":"crossref","unstructured":"M. J. van Nieuwstadt and R. M. Murray, \u201cReal-time trajectory generation for differentially flat systems,\u201d Int. J. Robust Nonlinear Control, vol.\u00a08, no.\u00a011, pp.\u00a0995\u20131020, 1998, https:\/\/doi.org\/10.1002\/(sici)1099-1239(199809)8:11<995::aid-rnc373>3.3.co;2-n.","DOI":"10.1002\/(SICI)1099-1239(199809)8:11<995::AID-RNC373>3.3.CO;2-N"},{"key":"2025091715105953187_j_auto-2025-0047_ref_008","doi-asserted-by":"crossref","unstructured":"S. Devasia, D. Chen, and B. E. Paden, \u201cNonlinear inversion-based output tracking,\u201d IEEE Trans. Autom. Control, vol.\u00a041, no.\u00a07, pp.\u00a0930\u2013942, 1996, https:\/\/doi.org\/10.1109\/9.508898.","DOI":"10.1109\/9.508898"},{"key":"2025091715105953187_j_auto-2025-0047_ref_009","doi-asserted-by":"crossref","unstructured":"V. Hagenmeyer and E. Delaleau, \u201cExact feedforward linearization based on differential flatness,\u201d Int. J. Control, vol.\u00a076, no.\u00a06, pp.\u00a0537\u2013556, 2003, https:\/\/doi.org\/10.1080\/0020717031000089570.","DOI":"10.1080\/0020717031000089570"},{"key":"2025091715105953187_j_auto-2025-0047_ref_010","doi-asserted-by":"crossref","unstructured":"D. Bauer, U. Schaper, K. Schneider, and O. Sawodny, \u201cObserver design and flatness-based feedforward control with model predictive trajectory planning of a crane rotator,\u201d in American Control Conference, Portland, USA, 2014, pp.\u00a04020\u20134025.","DOI":"10.1109\/ACC.2014.6858994"},{"key":"2025091715105953187_j_auto-2025-0047_ref_011","doi-asserted-by":"crossref","unstructured":"U. Schaper, E. Arnold, O. Sawodny, and K. Schneider, \u201cConstrained real-time model-predictive reference trajectory planning for rotary cranes,\u201d in IEEE\/ASME International Conference on Advanced Intelligent Mechatronics, Wollongong, Australia, 2013, pp.\u00a0680\u2013685.","DOI":"10.1109\/AIM.2013.6584171"},{"key":"2025091715105953187_j_auto-2025-0047_ref_012","doi-asserted-by":"crossref","unstructured":"P. Dworak and M. Brasel, \u201cImproving quality of regulation of a nonlinear MIMO dynamic plant,\u201d Electron. Electr. Eng., vol.\u00a019, no.\u00a07, pp.\u00a03\u20136, 2013, https:\/\/doi.org\/10.5755\/j01.eee.19.7.5153.","DOI":"10.5755\/j01.eee.19.7.5153"},{"key":"2025091715105953187_j_auto-2025-0047_ref_013","doi-asserted-by":"crossref","unstructured":"J. Willkomm, K. Wulff, and J. Reger, \u201cFeedforward control for non-minimumphase local model networks using model following control,\u201d in IEEE Conference on Control Technology and Applications, Copenhagen, Denmark, 2018, pp.\u00a01577\u20131582.","DOI":"10.1109\/CCTA.2018.8511378"},{"key":"2025091715105953187_j_auto-2025-0047_ref_014","doi-asserted-by":"crossref","unstructured":"J. Willkomm, K. Wulff, and J. Reger, \u201cTracking-control for the boost-pressure of a turbo-charger based on a local model network,\u201d in IEEE International Conference on Mechatronics, Ilmenau, Germany, 2019, pp.\u00a0108\u2013113.","DOI":"10.1109\/ICMECH.2019.8722870"},{"key":"2025091715105953187_j_auto-2025-0047_ref_015","doi-asserted-by":"crossref","unstructured":"J. Tyler, \u201cThe characteristics of model-following systems as synthesized by optimal control,\u201d IEEE Trans. Autom. Control, vol.\u00a09, no.\u00a04, pp.\u00a0485\u2013498, 1964, https:\/\/doi.org\/10.1109\/tac.1964.1105757.","DOI":"10.1109\/TAC.1964.1105757"},{"key":"2025091715105953187_j_auto-2025-0047_ref_016","unstructured":"H. Erzberger, \u201cOn the use of algebraic methods in the analysis and design of model-following control systems,\u201d National Aeronautics and Space Administration, Tech. Rep. NASA-TN-D-4663, 1968."},{"key":"2025091715105953187_j_auto-2025-0047_ref_017","doi-asserted-by":"crossref","unstructured":"G. S. Alag, R. W. Kempel, J. W. Pahle, J. J. Bresina, and F. Bartoli, \u201cModel-following control for an oblique-wing aircraft,\u201d American Institute of Aeronautics and Astronautics, Tech. Rep. NASA-TM-88268, 1986.","DOI":"10.2514\/6.1986-2244"},{"key":"2025091715105953187_j_auto-2025-0047_ref_018","unstructured":"R. M. Floyd, \u201cDesign of advanced digital flight control systems via command generator tracker (CGT) synthesis methods,\u201d Air Force Institute of Technology, Tech. Rep. AFIT\/GE\/EE\/81-20, 1981."},{"key":"2025091715105953187_j_auto-2025-0047_ref_019","unstructured":"J. P. McMillian, \u201cCommand generator tracker synthesis methods using an LQG-derived proportional plus integral controller based on the integral of the regulation error,\u201d Air Force Institute of Technology, Tech. Rep. AFIT\/GE\/EE\/83D-46, 1983."},{"key":"2025091715105953187_j_auto-2025-0047_ref_020","doi-asserted-by":"crossref","unstructured":"T. L. Trankle and A. E. Bryson, \u201cControl logic to track outputs of a command generator,\u201d J. Guid. Control, vol.\u00a01, no.\u00a02, pp.\u00a0130\u2013135, 1978, https:\/\/doi.org\/10.2514\/3.55755.","DOI":"10.2514\/3.55755"},{"key":"2025091715105953187_j_auto-2025-0047_ref_021","doi-asserted-by":"crossref","unstructured":"C. A. Winsor and R. J. Roy, \u201cThe application of specific optimal control to the design of desensitized model following control systems,\u201d IEEE Trans. Autom. Control, vol.\u00a015, no.\u00a03, pp.\u00a0326\u2013333, 1970, https:\/\/doi.org\/10.1109\/tac.1970.1099453.","DOI":"10.1109\/TAC.1970.1099453"},{"key":"2025091715105953187_j_auto-2025-0047_ref_022","doi-asserted-by":"crossref","unstructured":"G. Ambrosino, G. Celentano, and F. Garofalo, \u201cRobust model tracking control for a class of nonlinear plants,\u201d IEEE Trans. Autom. Control, vol.\u00a030, no.\u00a03, pp.\u00a0275\u2013279, 1985, https:\/\/doi.org\/10.1109\/tac.1985.1103929.","DOI":"10.1109\/TAC.1985.1103929"},{"key":"2025091715105953187_j_auto-2025-0047_ref_023","doi-asserted-by":"crossref","unstructured":"J. R. Broussard and M. J. O\u2019Brien, \u201cFeedforward control to track the output of a forced model,\u201d IEEE Trans. Autom. Control, vol.\u00a025, no.\u00a04, pp.\u00a0851\u2013853, 1980, https:\/\/doi.org\/10.1109\/tac.1980.1102409.","DOI":"10.1109\/TAC.1980.1102409"},{"key":"2025091715105953187_j_auto-2025-0047_ref_024","unstructured":"J. Brz\u00f3zka, \u201cModified model following control structure,\u201d Pomiary, Autom., Kontrola, vol.\u00a057, no.\u00a09, pp.\u00a01052\u20131054, 2011."},{"key":"2025091715105953187_j_auto-2025-0047_ref_025","doi-asserted-by":"crossref","unstructured":"T.-L. Chern and G.-K. Chang, \u201cAutomatic voltage regulator design by modified discrete integral variable structure model following control,\u201d Automatica, vol.\u00a034, no.\u00a012, pp.\u00a01575\u20131585, 1998, https:\/\/doi.org\/10.1016\/s0005-1098(98)80011-3.","DOI":"10.1016\/S0005-1098(98)80011-3"},{"key":"2025091715105953187_j_auto-2025-0047_ref_026","doi-asserted-by":"crossref","unstructured":"P. Dworak, K. Pietrusewicz, and S. Domek, \u201cImproving stability and regulation quality of nonlinear MIMO processes,\u201d in International Conference on Methods and Models in Automation and Robotics, Miedzyzdroje, Poland, 2009, pp.\u00a0180\u2013185.","DOI":"10.3182\/20090819-3-PL-3002.00032"},{"key":"2025091715105953187_j_auto-2025-0047_ref_027","doi-asserted-by":"crossref","unstructured":"G. Li, K. M. Tsang, and S. L. Ho, \u201cA novel model-following scheme with simple structure for electrical position servo systems,\u201d Int. J. Syst. Sci., vol.\u00a029, no.\u00a09, pp.\u00a0959\u2013969, 1998, https:\/\/doi.org\/10.1080\/00207729808929588.","DOI":"10.1080\/00207729808929588"},{"key":"2025091715105953187_j_auto-2025-0047_ref_028","doi-asserted-by":"crossref","unstructured":"R. Osypiuk and T. Kr\u00f6ger, \u201cA three-loop model-following control structure: theory and implementation,\u201d Int. J. Control, vol.\u00a083, no.\u00a01, pp.\u00a097\u2013104, 2010, https:\/\/doi.org\/10.1080\/00207170903100230.","DOI":"10.1080\/00207170903100230"},{"key":"2025091715105953187_j_auto-2025-0047_ref_029","unstructured":"G. Roppenecker, Zeitbereichsentwurf linearer Regelungen: grundlegende Strukturen und eine allgemeine Methodik ihrer Parametrierung, Oldenbourg, Germany, 1990."},{"key":"2025091715105953187_j_auto-2025-0047_ref_030","unstructured":"S. Skoczowski and S. Domek, \u201cRobustness of a model following PID control system,\u201d in International Symposium of Mathematical Theory of Networks and Systems, Buenos Aires, Argentina, 2000."},{"key":"2025091715105953187_j_auto-2025-0047_ref_031","doi-asserted-by":"crossref","unstructured":"S. Skoczowski, S. Domek, and K. Pietrusewicz, \u201cModel following PID control system,\u201d Kybernetes, vol.\u00a032, nos. 5\/6, pp.\u00a0818\u2013828, 2003, https:\/\/doi.org\/10.1108\/03684920210443888.","DOI":"10.1108\/03684920210443888"},{"key":"2025091715105953187_j_auto-2025-0047_ref_032","unstructured":"P. Dworak and K. Pietrusewicz, \u201cOn possibility of applying the MFC idea to control the MIMO processes,\u201d Pomiary, Autom., Kontrola, vol.\u00a052, no.\u00a011, pp.\u00a025\u201329, 2006."},{"key":"2025091715105953187_j_auto-2025-0047_ref_033","doi-asserted-by":"crossref","unstructured":"G. Preusche, \u201cA two-level model following control system and its application to the power control of a steam-cooled fast reactor,\u201d Automatica, vol.\u00a08, no.\u00a02, pp.\u00a0143\u2013151, 1972, https:\/\/doi.org\/10.1016\/0005-1098(72)90062-3.","DOI":"10.1016\/0005-1098(72)90062-3"},{"key":"2025091715105953187_j_auto-2025-0047_ref_034","doi-asserted-by":"crossref","unstructured":"M. Sato, \u201cRobust model-following controller design for LTI systems affected by parametric uncertainties: a design example for aircraft motion,\u201d Int. J. Control, vol.\u00a082, no.\u00a04, pp.\u00a0689\u2013704, 2009, https:\/\/doi.org\/10.1080\/00207170802225948.","DOI":"10.1080\/00207170802225948"},{"key":"2025091715105953187_j_auto-2025-0047_ref_035","doi-asserted-by":"crossref","unstructured":"T. Sugie and K. Osuka, \u201cRobust model following control with prescribed accuracy for uncertain nonlinear systems,\u201d Int. J. Control, vol.\u00a058, no.\u00a05, pp.\u00a0991\u20131009, 1993, https:\/\/doi.org\/10.1080\/00207179308923040.","DOI":"10.1080\/00207179308923040"},{"key":"2025091715105953187_j_auto-2025-0047_ref_036","unstructured":"J. Brz\u00f3zka, \u201cDesign of robust, nonlinear control system of the ship course angle, in a model following control (MFC) structure based on an input-output linearization,\u201d Sci. J. Marit. Univ. Szczecin, Zesz. Nauk. Akad. Morsk. Szczecinie, vol.\u00a030, no. 102, pp.\u00a025\u201329, 2012."},{"key":"2025091715105953187_j_auto-2025-0047_ref_037","doi-asserted-by":"crossref","unstructured":"J. Huber, C. Gruber, and M. Hofbaur, \u201cOnline trajectory optimization for nonlinear systems by the concept of a model control loop \u2014 applied to the reaction wheel pendulum,\u201d in IEEE International Conference on Control Applications, Hyderabad, India, 2013, pp.\u00a0935\u2013940.","DOI":"10.1109\/CCA.2013.6662871"},{"key":"2025091715105953187_j_auto-2025-0047_ref_038","doi-asserted-by":"crossref","unstructured":"K. Pietrusewicz, \u201cMulti-degree of freedom robust control of the CNC XY table PMSM-based feed-drive module,\u201d Arch. Electr. Eng., vol.\u00a061, no.\u00a01, pp.\u00a015\u201331, 2012, https:\/\/doi.org\/10.2478\/v10171-012-0002-6.","DOI":"10.2478\/v10171-012-0002-6"},{"key":"2025091715105953187_j_auto-2025-0047_ref_053","unstructured":"N. Tietze, K. Wulff, and J. Reger, \u201cSet invariance in model-following high-gain control \u2013 decoupling the region of attraction and precision,\u201d in Submitted to Conference on Decision and Control, 2025."},{"key":"2025091715105953187_j_auto-2025-0047_ref_041","doi-asserted-by":"crossref","unstructured":"J. Willkomm, K. Wulff, and J. Reger, \u201cSet-point tracking for nonlinear systems subject to uncertainties using model-following control with a high-gain controller,\u201d in European Control Conference, London, United Kingdom, 2022, pp.\u00a01617\u20131622.","DOI":"10.23919\/ECC55457.2022.9838162"},{"key":"2025091715105953187_j_auto-2025-0047_ref_042","unstructured":"J. Willkomm, K. Wulff, and J. Reger, \u201cSet-point control and local stability for flat nonlinear systems using model-following control,\u201d arXiv:2501.12913, 2025."},{"key":"2025091715105953187_j_auto-2025-0047_ref_040","doi-asserted-by":"crossref","unstructured":"N. Tietze, K. Wulff, and J. Reger, \u201cA model-following control approach to peaking attenuation in high-gain partial state feedback for nonlinear systems,\u201d in IFAC Conference of Modelling, Identification and Control of Nonlinear Systems, Lyon, France, 2024, pp.\u00a07\u201312.","DOI":"10.1016\/j.ifacol.2024.10.134"},{"key":"2025091715105953187_j_auto-2025-0047_ref_043","doi-asserted-by":"crossref","unstructured":"B. A. Francis and K. G. Glover, \u201cBounded peaking in the optimal linear regulator with cheap control,\u201d IEEE Trans. Autom. Control, vol.\u00a023, no.\u00a04, pp.\u00a0608\u2013617, 1978, https:\/\/doi.org\/10.1109\/tac.1978.1101792.","DOI":"10.1109\/TAC.1978.1101792"},{"key":"2025091715105953187_j_auto-2025-0047_ref_044","doi-asserted-by":"crossref","unstructured":"H. J. Sussmann and P. V. Kokotovi\u0107, \u201cThe peaking phenomenon and the global stabilization of nonlinear systems,\u201d IEEE Trans. Autom. Control, vol.\u00a036, no.\u00a04, pp.\u00a0424\u2013440, 1991, https:\/\/doi.org\/10.1109\/9.75101.","DOI":"10.1109\/9.75101"},{"key":"2025091715105953187_j_auto-2025-0047_ref_045","doi-asserted-by":"crossref","unstructured":"Ya. Z. Tsypkin and B. T. Polyak, \u201cHigh-gain robust control,\u201d Eur. J. Control, vol.\u00a05, no.\u00a01, pp.\u00a03\u20139, 1999, https:\/\/doi.org\/10.1016\/s0947-3580(99)70132-9.","DOI":"10.1016\/S0947-3580(99)70132-9"},{"key":"2025091715105953187_j_auto-2025-0047_ref_046","doi-asserted-by":"crossref","unstructured":"K.-K. D. Young, P. V. Kokotovi\u0107, and V. I. Utkin, \u201cA singular perturbation analysis of high-gain feedback systems,\u201d IEEE Trans. Autom. Control, vol.\u00a022, no.\u00a06, pp.\u00a0931\u2013938, 1977.","DOI":"10.1109\/TAC.1977.1101661"},{"key":"2025091715105953187_j_auto-2025-0047_ref_047","doi-asserted-by":"crossref","unstructured":"M. Sch\u00fcnemann and R. Kasper, \u201cHierarchisches Konzept zur Fahrdynamikregelung f\u00fcr Elektrofahrzeuge mit Einzelradantrieben,\u201d at \u2013 Automatisierungstechnik, vol.\u00a065, no.\u00a012, pp.\u00a0822\u2013837, 2017, https:\/\/doi.org\/10.1515\/auto-2017-0072.","DOI":"10.1515\/auto-2017-0072"},{"key":"2025091715105953187_j_auto-2025-0047_ref_048","doi-asserted-by":"crossref","unstructured":"W. Degel, S. Lupberger, D. Odenthal, and N. Bajcinca, \u201cScalable slip control with torque vectoring including input-to-state stability analysis,\u201d IEEE Trans. Control Syst. Technol., vol.\u00a031, no.\u00a03, pp.\u00a01250\u20131265, 2023, https:\/\/doi.org\/10.1109\/tcst.2022.3224839.","DOI":"10.1109\/TCST.2022.3224839"},{"key":"2025091715105953187_j_auto-2025-0047_ref_049","doi-asserted-by":"crossref","unstructured":"S. Lupberger, W. Degel, D. Odenthal, and N. Bajcinca, \u201cNonlinear control design for regenerative and hybrid antilock braking in electric vehicles,\u201d IEEE Trans. Control Syst. Technol., vol.\u00a030, no.\u00a04, pp.\u00a01375\u20131389, 2022, https:\/\/doi.org\/10.1109\/tcst.2021.3109340.","DOI":"10.1109\/TCST.2021.3109340"},{"key":"2025091715105953187_j_auto-2025-0047_ref_050","unstructured":"E. J. V. Reichensd\u00f6rfer, D. Odenthal, and D. Wollherr, \u201cEngine-based input-output linearization for traction control systems,\u201d in IFAC World Congress, Berlin, Germany, 2020, pp.\u00a014 055\u201314 060."},{"key":"2025091715105953187_j_auto-2025-0047_ref_051","doi-asserted-by":"crossref","unstructured":"E. J. V. Reichensd\u00f6rfer, D. Odenthal, and D. Wollherr, \u201cOn the stability of nonlinear wheel-slip zero dynamics in traction control systems,\u201d IEEE Trans. Control Syst. Technol., vol.\u00a028, no.\u00a02, pp.\u00a0489\u2013504, 2020, https:\/\/doi.org\/10.1109\/tcst.2018.2880932.","DOI":"10.1109\/TCST.2018.2880932"},{"key":"2025091715105953187_j_auto-2025-0047_ref_052","unstructured":"H. K. Khalil, Nonlinear Systems, 3rd ed. New Jersey, USA, Prentice-Hall, 2002."},{"key":"2025091715105953187_j_auto-2025-0047_ref_054","unstructured":"N. Tietze, K. Wulff, and J. Reger, \u201cTrajectory tracking model-following control using Lyapunov redesign with output time-derivatives to compensate unmatched uncertainties,\u201d in European Control Conference, Thessaloniki, Greece, 2025."},{"key":"2025091715105953187_j_auto-2025-0047_ref_055","doi-asserted-by":"crossref","unstructured":"R. Rajamani, \u201cObservers for Lipschitz nonlinear systems,\u201d IEEE Trans. Autom. Control, vol.\u00a043, no.\u00a03, pp.\u00a0397\u2013401, 1998, https:\/\/doi.org\/10.1109\/9.661604.","DOI":"10.1109\/9.661604"},{"key":"2025091715105953187_j_auto-2025-0047_ref_056","doi-asserted-by":"crossref","unstructured":"K. R\u00f6benack, \u201cImproving high gain observer design for nonlinear systems using the structure of the linear part,\u201d in Systems, Automation and Control, Berlin, Germany, De Gruyter Oldenbourg, 2016, pp.\u00a057\u201374.","DOI":"10.1515\/9783110448436-005"},{"key":"2025091715105953187_j_auto-2025-0047_ref_057","doi-asserted-by":"crossref","unstructured":"Y. Hori, Y. Toyoda, and Y. Tsuruoka, \u201cTraction control of electric vehicle: basic experimental results using the test EV \u201cUOT electric march\u201d,\u201d IEEE Trans. Ind. Appl., vol.\u00a034, no.\u00a05, pp.\u00a01131\u20131138, 1998, https:\/\/doi.org\/10.1109\/28.720454.","DOI":"10.1109\/28.720454"},{"key":"2025091715105953187_j_auto-2025-0047_ref_058","unstructured":"H. B. Pacejka, Tire and Vehicle Dynamics, 3rd ed. Oxford, UK, Butterworth-Heinemann, 2012."},{"key":"2025091715105953187_j_auto-2025-0047_ref_059","doi-asserted-by":"crossref","unstructured":"A. Alexander and A. Vacca, \u201cReal-time parameter setpoint optimization for electro-hydraulic traction control systems,\u201d in Scandinavian International Conference on Fluid Power, vol.\u00a0144, Link\u00f6ping, Sweden, 2017, pp.\u00a0104\u2013114. https:\/\/doi.org\/10.3384\/ecp17144104.","DOI":"10.3384\/ecp17144104"},{"key":"2025091715105953187_j_auto-2025-0047_ref_060","doi-asserted-by":"crossref","unstructured":"V. Ivanov, D. Savitski, and B. Shyrokau, \u201cA survey of traction control and antilock braking systems of full electric vehicles with individually controlled electric motors,\u201d IEEE Trans. Veh. Technol., vol.\u00a064, no.\u00a09, pp.\u00a03878\u20133896, 2015, https:\/\/doi.org\/10.1109\/tvt.2014.2361860.","DOI":"10.1109\/TVT.2014.2361860"},{"key":"2025091715105953187_j_auto-2025-0047_ref_061","doi-asserted-by":"crossref","unstructured":"R. Rajamani, G. Phanomchoeng, D. Piyabongkarn, and J. Y. Lew, \u201cAlgorithms for real-time estimation of individual wheel tire-road friction coefficients,\u201d IEEE\/ASME Trans. Mechatron., vol.\u00a017, no.\u00a06, pp.\u00a01183\u20131195, 2012, https:\/\/doi.org\/10.1109\/tmech.2011.2159240.","DOI":"10.1109\/TMECH.2011.2159240"},{"key":"2025091715105953187_j_auto-2025-0047_ref_062","doi-asserted-by":"crossref","unstructured":"J. Yi, L. Alvarez, and R. Horowitz, \u201cAdaptive emergency braking control with underestimation of friction coefficient,\u201d IEEE Trans. Control Syst. Technol., vol.\u00a010, no.\u00a03, pp.\u00a0381\u2013392, 2002, https:\/\/doi.org\/10.1109\/87.998027.","DOI":"10.1109\/87.998027"},{"key":"2025091715105953187_j_auto-2025-0047_ref_063","doi-asserted-by":"crossref","unstructured":"E. D. Sontag and Y. Wang, \u201cOn characterizations of the input-to-state stability property,\u201d Syst. Control Lett., vol.\u00a024, no.\u00a05, pp.\u00a0351\u2013359, 1995, https:\/\/doi.org\/10.1016\/0167-6911(94)00050-6.","DOI":"10.1016\/0167-6911(94)00050-6"}],"container-title":["at - Automatisierungstechnik"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.degruyterbrill.com\/document\/doi\/10.1515\/auto-2025-0047\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.degruyterbrill.com\/document\/doi\/10.1515\/auto-2025-0047\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,9,17]],"date-time":"2025-09-17T15:11:30Z","timestamp":1758121890000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.degruyterbrill.com\/document\/doi\/10.1515\/auto-2025-0047\/html"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,8,1]]},"references-count":62,"journal-issue":{"issue":"8","published-online":{"date-parts":[[2025,8,6]]},"published-print":{"date-parts":[[2025,8,26]]}},"alternative-id":["10.1515\/auto-2025-0047"],"URL":"https:\/\/doi.org\/10.1515\/auto-2025-0047","relation":{},"ISSN":["0178-2312","2196-677X"],"issn-type":[{"type":"print","value":"0178-2312"},{"type":"electronic","value":"2196-677X"}],"subject":[],"published":{"date-parts":[[2025,8,1]]}}}