Output feedback control with prescribed performance via funnel pre-compensator

Abstract We study output reference tracking of systems with high relative degree via feedback only; this is, where the derivatives are unknown. To end, we prove that conjunction funnel pre-compensator a minimum phase system arbitrary yields same which is as well. The error between original system’s and pre-compensator’s evolves within prescribed performance funnel; moreover, known explicitly. Therefore, transient behaviour possible without knowledge output; control schemes for instance.