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Output reference tracking of unknown nonlinear systems is considered. Thecontrol objective is exact tracking in predefined finite time, while in thetransient phase the tracking error evolves within a prescribed boundary. Toachieve this, a novel high-gain feedback controller is developed that issimilar to, but extends, existing high-gain feedback controllers. Feasibilityand functioning of the proposed controller is proven rigorously. Examples forthe particular control objective under consideration are, for instance, linkingup two train sections, or docking of spaceships.

Exact output tracking in prescribed finite time via funnel control