Stablewise absolute output natural tracking control with finite reachability time: MIMO Lurie systems

New control concepts of the natural absolute trackability, absolute stablewise elementwise tracking and natural absolute tracking control are introduced for MIMO systems with multiple unknown controller Lurie nonlinearities, unknown linear part and unknown external disturbances. The concepts are aimed at output tracking control synthesis and implementation for such systems in order to ensure a prespecified output tracking quality. This opens two essential problems: (a) what are conditions for the natural trackability of such Lurie systems and (b) how to design a controller generating the natural tracking control for them? Both are resolved in the form of the necessary and sufficient simple conditions. The theory established in the paper is illustrated by simulation results.