Real-Time Nonlinear Quadratic Trajectory Tracking Control for Polynomial Nonlinear Systems

Johannes Handler; Matthew Harker

doi:10.1016/j.ifacol.2025.11.032

Real-Time Nonlinear Quadratic Trajectory Tracking Control for Polynomial Nonlinear Systems

Johannes Handler
, Matthew Harker

Chair of Automation and Measurement (530)

École de Technologie Supériore Montréal

Research output: Contribution to conference › Paper › peer-review

Abstract

This paper presents a real-time nonlinear quadratic trajectory tracking control (NLQTC) method for polynomial nonlinear state-space systems. Building on prior regulator designs, a stacked feedback control structure is developed, incorporating an additional term to enable trajectory tracking. The proposed approach guarantees fixed computational costs per control cycle, making it suitable for real-time applications. Validation on a nonlinear mass-spring-damper system demonstrates effective trajectory tracking. Comparative simulations against nonlinear model predictive control (NMPC) show that NLQTC achieves equivalent tracking accuracy while significantly improving computational efficiency.

Original language	English
DOIs	https://doi.org/10.1016/j.ifacol.2025.11.032
Publication status	Published - 17 Nov 2025
Event	13th IFAC Symposium on Nonlinear Control Systems 2025 - University of Iceland, Reykjavík, Reykjavík, Iceland Duration: 23 Jul 2025 → 25 Jul 2025 https://conferences.ifac-control.org/nolcos2025/

Conference

Conference	13th IFAC Symposium on Nonlinear Control Systems 2025
Abbreviated title	NOLCOS 2025
Country/Territory	Iceland
City	Reykjavík
Period	23/07/25 → 25/07/25
Internet address	https://conferences.ifac-control.org/nolcos2025/

Keywords

optimal control
polynomial nonlinear systems
real-time
trajectory tracking

Access to Document

10.1016/j.ifacol.2025.11.032

Cite this

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title = "Real-Time Nonlinear Quadratic Trajectory Tracking Control for Polynomial Nonlinear Systems",

abstract = "This paper presents a real-time nonlinear quadratic trajectory tracking control (NLQTC) method for polynomial nonlinear state-space systems. Building on prior regulator designs, a stacked feedback control structure is developed, incorporating an additional term to enable trajectory tracking. The proposed approach guarantees fixed computational costs per control cycle, making it suitable for real-time applications. Validation on a nonlinear mass-spring-damper system demonstrates effective trajectory tracking. Comparative simulations against nonlinear model predictive control (NMPC) show that NLQTC achieves equivalent tracking accuracy while significantly improving computational efficiency.",

keywords = "optimal control, polynomial nonlinear systems, real-time, trajectory tracking, optimal control, polynomial nonlinear systems, real-time, trajectory tracking",

author = "Johannes Handler and Matthew Harker",

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doi = "10.1016/j.ifacol.2025.11.032",

language = "English",

note = "13th IFAC Symposium on Nonlinear Control Systems 2025 ; Conference date: 23-07-2025 Through 25-07-2025",

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TY - CONF

T1 - Real-Time Nonlinear Quadratic Trajectory Tracking Control for Polynomial Nonlinear Systems

AU - Handler, Johannes

AU - Harker, Matthew

PY - 2025/11/17

Y1 - 2025/11/17

N2 - This paper presents a real-time nonlinear quadratic trajectory tracking control (NLQTC) method for polynomial nonlinear state-space systems. Building on prior regulator designs, a stacked feedback control structure is developed, incorporating an additional term to enable trajectory tracking. The proposed approach guarantees fixed computational costs per control cycle, making it suitable for real-time applications. Validation on a nonlinear mass-spring-damper system demonstrates effective trajectory tracking. Comparative simulations against nonlinear model predictive control (NMPC) show that NLQTC achieves equivalent tracking accuracy while significantly improving computational efficiency.

AB - This paper presents a real-time nonlinear quadratic trajectory tracking control (NLQTC) method for polynomial nonlinear state-space systems. Building on prior regulator designs, a stacked feedback control structure is developed, incorporating an additional term to enable trajectory tracking. The proposed approach guarantees fixed computational costs per control cycle, making it suitable for real-time applications. Validation on a nonlinear mass-spring-damper system demonstrates effective trajectory tracking. Comparative simulations against nonlinear model predictive control (NMPC) show that NLQTC achieves equivalent tracking accuracy while significantly improving computational efficiency.

KW - optimal control

KW - polynomial nonlinear systems

KW - real-time

KW - trajectory tracking

KW - optimal control

KW - polynomial nonlinear systems

KW - real-time

KW - trajectory tracking

U2 - 10.1016/j.ifacol.2025.11.032

DO - 10.1016/j.ifacol.2025.11.032

M3 - Paper

T2 - 13th IFAC Symposium on Nonlinear Control Systems 2025

Y2 - 23 July 2025 through 25 July 2025

ER -