Output Regulation in Differential Variational Inequalities using Internal Model Principle and Passivity‐Based Approach

We consider the problem of designing state feedback control laws for output regulation in a class of dynamical systems where state trajectories are constrained to evolve within time‐varying, closed, and convex sets. The first main result states sufficient conditions for existence and uniqueness of solutions in such systems. We then design a static state feedback control law using the internal model principle, which results in a well‐posed closed‐loop system and solves the regulation problem. As an application, we demonstrate how control input resulting from the solution of a variational inequality results in regulating the output of the system while maintaining polyhedral state constraints. (© 2015 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)