A reference signal is the commanded target value, or setpoint trajectory, that a control system attempts to make its output follow over time. The controller computes the error between the reference and the measured output and acts to drive that error to zero. The shape and feasibility of the reference signal directly determine achievable tracking performance.
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- Reference signals may be constant setpoints, step changes, or smooth time-varying trajectories generated by a planner. Feasibility constraints such as actuator limits and dynamics mean references are often shaped or filtered to remain trackable without saturating the system.