Robust tracking with unknown upper bounds on the perturbations and measurement noise

We consider the robust tracking problem for a discrete time control object with unknown upper bounds on the perturbations. The transition function in the nominal model of the controllable object is assumed to be known, while upper bounds on the external perturbation, measurement noise, and operator perturbations with respect to both output and control are assumed to be unknown or rough. Current estimates of upper bounds on the perturbations are obtained from measurement data with the quality criterion of the tracking problem as the identification criterion.