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Global robust output regulation of a class of MIMO nonlinear systems by nonlinear internal model control
Author(s) -
Ping Zhaowu,
Li Yaoyi,
Huang Yunzhi,
Lu JunGuo,
Wang Hai
Publication year - 2021
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/rnc.5456
Subject(s) - control theory (sociology) , nonlinear system , internal model , mimo , constructive , nonlinear control , robust control , computer science , controller (irrigation) , mathematics , control (management) , artificial intelligence , telecommunications , process (computing) , physics , channel (broadcasting) , quantum mechanics , agronomy , biology , operating system
Recently, the global robust output regulation problem for a class of uncertain multi‐input multi‐output (MIMO) nonlinear systems which may not have well‐defined relative degree and are subject to a nonlinear exosystem has been studied based on a constructive nonlinear internal model. However, the proposed nonlinear internal model‐based control law is applicable to the case where the exogenous signals are reference input and/or measurable disturbance rather than unmeasurable disturbance. For this reason, this paper further studies the same control problem based on a general nonlinear internal model independent of the exogenous signal. It is shown that this control problem can be converted into a global robust stabilization problem of a more complicated MIMO nonlinear system with various uncertainties and well solved by a recursive state feedback controller design. Thus our approach applies to a broader class of output regulation problem of MIMO nonlinear systems.