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Semiglobal robust output regulation of minimum‐phase nonlinear systems
Author(s) -
Serrani Andrea,
Isidori Alberto,
Marconi Lorenzo
Publication year - 2000
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/(sici)1099-1239(20000430)10:5<379::aid-rnc482>3.0.co;2-x
Subject(s) - control theory (sociology) , feed forward , minimum phase , passivity , nonlinear system , internal model , computer science , stability (learning theory) , nonlinear control , state (computer science) , scheme (mathematics) , robust control , class (philosophy) , control (management) , phase (matter) , mathematics , control engineering , algorithm , engineering , artificial intelligence , mathematical analysis , chemistry , physics , electrical engineering , organic chemistry , quantum mechanics , machine learning
In this paper, we address the problem of semiglobal robust output regulation for a general class of single‐input, single‐output nonlinear systems. The proposed solution does not require the assumption of input‐to‐state stability of the zero‐dynamics of the plant. The design method is based on a classical decomposition of the control law into a stabilizing feedback and a feedforward control, where the latter is asymptotically reconstructed by an internal model. The scheme exploits the passivity properties of the internal model, and combines small‐gain and high‐gain feedback. Simulation results for an illustrative example are included. Copyright © 2000 John Wiley & Sons, Ltd.