Off-line reference shaping of periodic trajectories for constrained systems with uncertainties

This paper is concerned with off-line reference shaping of infinite horizon periodic trajectories for uncertain closed-loop systems with state/input constraints. The method allows us to improve tracking performance subject to constraints in the presence of uncertainties. First, the reference shaping for nominal systems is proposed, which yields a suboptimal solution through decomposition of the infinite horizon tracking problem into two finite ones. Second, the method is extended to fulfill the constraints robustly.