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In this work, we derive dynamic output-feedback controllers that render theclosed-loop system externally positive. We begin by expressing the class ofdiscrete-time, linear, time-invariant systems and the class of dynamiccontrollers in the space of input-output behaviors, where a dynamic controllercan be expressed as a static behavioral feedback gain. We leverage the staticform of the controller to derive output-feedback controllers that achievemonotonic output tracking of a constant non-negative reference output. Further,we provide a direct data-driven approach to derive monotonic trackingoutput-feedback controllers for single-input-single-output (SISO) systems. Ourapproaches, model-based and data-based, allow us to obtain output-feedbackcontrollers that render the closed-loop system externally positive. Finally, wevalidate our results numerically in a drone landing control problem.

Model-based and Data-based Dynamic Output Feedback for Externally Positive Systems