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Semiglobal robust output regulation of minimum-phase nonlinear systems

โœ Scribed by Andrea Serrani; Alberto Isidori; Lorenzo Marconi

Publisher
John Wiley and Sons
Year
2000
Tongue
English
Weight
163 KB
Volume
10
Category
Article
ISSN
1049-8923

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โœฆ Synopsis

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.

๐Ÿ“œ SIMILAR VOLUMES

On the design of robust servomechanisms
On the design of robust servomechanisms for minimum phase nonlinear systems
โœ Hassan K. Khalil ๐Ÿ“‚ Article ๐Ÿ“… 2000 ๐Ÿ› John Wiley and Sons ๐ŸŒ English โš– 188 KB ๐Ÿ‘ 2 views

We consider a single-input single-output nonlinear system which has a well-de"ned normal form with asymptotically stable zero dynamics. We study the design of a robust output feedback controller that incorporates a linear servo compensator to achieve asymptotic tracking and disturbance rejection. We