Trackin from a synchronization control perspective

The problem of tracking a reference is viewed from a synchronization perspective. This applies to problems where the reference is not an ideal reference path but rather a physical object, with inherent dynamics and subject to disturbances, and which therefore may not be able to follow its own predefined reference path perfectly. Such systems need feedback from the actual state of the reference object, and we suggest a synchronization tracking controller that yields semi-globally uniformly ultimately bounded tracking and observer errors, with arbitrarily small bounds.