LAUSR

Stable inversion was an effective method to achieve precise trajectory tracking, for which the tracking problem of periodically time-varying systems was solved in the existing literature. However, iteration techniques were required to approach stable inversion, whose explicit formulas for this tracking problem cannot be obtained. To overcome this drawback, a special kind of stable inversion, named periodic inversion, for the periodic systems is proposed in this study. By means of the lifted technique, the tracking problem of the periodic systems is reformulated to be equivalent to that of lifted systems. In order to obtain precise tracking, the periodic inversion of the periodic systems or the lifted systems is proposed, and is analysed for the non-singular case and the singular case, each of which is further analysed for three cases: the full row rank case, the full column rank case and the rank-deficient case. Thus the periodic inversion of the periodic systems is computed. Accompanied with the optimal state transition method for the time-varying systems, precise trajectory tracking is achieved. The methodology is validated through simulations.