Feasible Tracking Control of Machine

A method for controlling an operation of a machine determines a feasible region for states of the machine and states of the reference trajectory defined by constraints of the machine, constraints on a reference trajectory and constraints on bounds of a tracking error and selects a subset of the feasible region, such that for any state of the machine and any state of the reference trajectory within the subset, there is an admissible control maintaining the state of the machine within the subset for all admissible future states of the reference trajectory determined by the model and the constraints of the reference trajectory. Next, an admissible control action for controlling the operation of the machine is selected such that the state of the machine remains in the subset for all admissible future states of the reference trajectory.