Exact output tracking in prescribed finite time via funnel control

We extend a recent result in high-gain feedback output tracking control to achieve exact tracking within finite time, i.e., the output of a system and its relevant derivatives have certain exact values at a predefined finite time. We propose a new funnel control scheme achieving this, whereas the error between the reference and the output evolves within prescribed bounds. Applications of this are, for instance, linking up two parts of a train, or docking spaceships.