Departmental Papers (ESE)


Asymptotically stable linear time invariant systems are capable of tracking arbitrary reference signals with a bounded error proportional to the magnitude of the reference signal (and its derivatives). It is shown that a similar property holds for a general class of nonlinear dynamical systems which includes all robots. As in the linear case, the error bound may be made "arbitrarily" small by increasing the magnitude of the feedback gains which stabilize the system.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version



Koditschek, D. E. (1987). High Gain Feedback and Telerobotic Tracking. Proceedings of the Workshop on Space Telerobotics, 3, 355-363.

NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently (April 2013), he is a faculty member at the School of Engineering and Applied Science at the University of Pennsylvania.



Date Posted: 16 April 2013

This document has been peer reviewed.