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On the design of output regulators for nonlinear systems

✍ Scribed by D. Cheng; T.J. Tarn; S.K. Spurgeon

Publisher
Elsevier Science
Year
2001
Tongue
English
Weight
130 KB
Volume
43
Category
Article
ISSN
0167-6911

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✦ Synopsis

This paper considers the output regulation problem for nonlinear systems. By adding the assumption that the decoupling matrix of the system under consideration has maximum rank, the general results presented in Isidori and Byrnes (IEEE Trans. Automat. Control 35(2) (1990) 131-140) have been improved in three ways. Firstly, the precise form of the regulators is presented for multi-input multi-output a ne nonlinear systems. Secondly, the number of unknown functions in the controller parameterization has been reduced. Finally, by introducing a hyperbolic realization and constructing auxiliary systems, a su cient and generically necessary condition for the existence of the unknown functions is obtained. This condition is easily veriΓΏable using only algebraic computation. These results provide a complete solution to the output regulation problem, for a class of nonlinear systems. It is also shown that for this class of systems, the output regulation problem is always generically solvable.

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