# An Input Reconstruction Approach for Command Following in Linear MIMO Systems

## TL;DR

This paper introduces a novel input reconstruction approach for command following in linear MIMO systems, combining state estimation and input reconstruction to achieve unbiased tracking of reference commands, with validation through simulations and real-time tests.

## Contribution

It proposes a new control framework that uses input reconstruction for command following in square MIMO systems, extending to non-square systems under certain conditions.

## Key findings

- Effective in achieving unbiased command tracking
- Validated through simulations and real-time implementation
- Applicable to non-square systems with specific conditions

## Abstract

The idea of posing a command following or tracking control problem as an input reconstruction problem is explored in the paper. For a class of square MIMO systems with known dynamics, by pretending that reference commands are actual outputs of the system, input reconstruction methods can be used to determine control action that will result in a system following desired reference commands. A feedback controller which is a combination of an unbiased state estimator and an input reconstructor that ensures unbiased tracking of reference commands is proposed. Simulations and real-time implementation are presented to demonstrate utility of the proposed idea. Conditions under which proposed controller may be used for non-square systems are also discussed.