Nonlinear output regulation by post-processing internal model for multi-input multi-output systems
09 13 Category : Output feedback | All
Authors: A. Isidori, L. Marconi, D. Astolfi, L. Praly, 9th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2013), pp. 295-300, September 4-6, 2013, Toulouse
The paper deals with the problem of output regulation for the class of multi- input multi-output square nonlinear systems satisfying a minimum-phase assumption and a “positivity” condition on the high-frequency gain matrix. By following a design paradigm proposed in [12] for single-input single-output nonlinear systems, it is shown how an internal model-based controller can be obtained, whose dimension depends on the number of regulated outputs and on the dimension of the exosystem. Thanks to a scalability property of the regulator structure highlighted in [10], it is shown how a “pre-processing” internal model can be shifted from input to output, yielding in this way a “post-processing” internal model. This makes it possible to run a high-gain asymptotic analysis that bypasses the need of finding a normal form, as it would normally be the case.
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BibTeX:
@Proceedings{,
author = {A. Isidori, L. Marconi, D. Astolfi, L. Praly},
editor = {},
title = {Nonlinear output regulation by post-processing internal model for multi-input multi-output systems},
booktitle = {9th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2013)},
volume = {},
publisher = {},
address = {Toulouse},
pages = {295-300},
year = {2013},
abstract = {The paper deals with the problem of output regulation for the class of multi- input multi-output square nonlinear systems satisfying a minimum-phase assumption and a “positivity” condition on the high-frequency gain matrix. By following a design paradigm proposed in [12] for single-input single-output nonlinear systems, it is shown how an internal model-based controller can be obtained, whose dimension depends on the number of regulated outputs and on the dimension of the exosystem. Thanks to a scalability property of the regulator structure highlighted in [10], it is shown how a “pre-processing” internal model can be shifted from input to output, yielding in this way a “post-processing” internal model. This makes it possible to run a high-gain asymptotic analysis that bypasses the need of finding a normal form, as it would normally be the case.},
keywords = {}}
The paper deals with the problem of output regulation for the class of multi- input multi-output square nonlinear systems satisfying a minimum-phase assumption and a “positivity” condition on the high-frequency gain matrix. By following a design paradigm proposed in [12] for single-input single-output nonlinear systems, it is shown how an internal model-based controller can be obtained, whose dimension depends on the number of regulated outputs and on the dimension of the exosystem. Thanks to a scalability property of the regulator structure highlighted in [10], it is shown how a “pre-processing” internal model can be shifted from input to output, yielding in this way a “post-processing” internal model. This makes it possible to run a high-gain asymptotic analysis that bypasses the need of finding a normal form, as it would normally be the case.
Download PDF
BibTeX:
@Proceedings{,
author = {A. Isidori, L. Marconi, D. Astolfi, L. Praly},
editor = {},
title = {Nonlinear output regulation by post-processing internal model for multi-input multi-output systems},
booktitle = {9th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2013)},
volume = {},
publisher = {},
address = {Toulouse},
pages = {295-300},
year = {2013},
abstract = {The paper deals with the problem of output regulation for the class of multi- input multi-output square nonlinear systems satisfying a minimum-phase assumption and a “positivity” condition on the high-frequency gain matrix. By following a design paradigm proposed in [12] for single-input single-output nonlinear systems, it is shown how an internal model-based controller can be obtained, whose dimension depends on the number of regulated outputs and on the dimension of the exosystem. Thanks to a scalability property of the regulator structure highlighted in [10], it is shown how a “pre-processing” internal model can be shifted from input to output, yielding in this way a “post-processing” internal model. This makes it possible to run a high-gain asymptotic analysis that bypasses the need of finding a normal form, as it would normally be the case.},
keywords = {}}