With a same Lyapunov function defined, the stability, robustness, and convergence speed of three widely used trajectory-tracking control schemes, i.e., the proportional- derivative (PD) control, the (PD) control with a feedforward compensation, and the PD control with a calculated feedforward compensation, are presented. All three control schemes are globally exponentially convergent. The trajectory-tracking features of the three control schemes are theoretically analyzed and compared. Suggestions are given for the choices of the control parameters.
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