Triangle Wave Tracking Control of an Electromagnetic Torsional Micromirror with Constraint Transient Performance

In this paper, we study an output regulation problem to realize the tracking of ramp signals and triangular wave signals for an electromagnetic torsional micromirror. First, we find out that the problem can meet some standard conditions such that the micromirror is capable of tracking ramp signals. Then we turn the robust output regulation problem of the micromirror into the robust stabilization problem of the augmented system by internal model design. Finally, we design a regulation controller for the problem by BLF(Barrier Lyapunov Function) technique, to realize the tracking of triangular signals for the nonlinear system with constraint transient performance.