Semiglobal robust regulation of nonlinear systems (Q4353565)

The paper presents recent results on the local structurally stable regulation of nonlinear systems. That is, systems of the form \(\dot x=f(x,u,w, \mu)\), \(e=h(x,w, \mu)\) are considered, with \(x\in \mathbb{R}^n\), inputs \(u\in \mathbb{R}^m\), regulated outputs \(e\in \mathbb{R}^m\) disturbances \(w\in \mathbb{R}^d\) and unknown parameters \(\mu\) belonging to some compact set. In the regulation problem a controller of the form \(\dot \xi= \eta (\xi,e)\), \(u= \theta (\xi)\) is sought such that i) for \(w\equiv 0\) the closed loop system is exponentially stable. ii) The disturbed closed loop system exhibits asymptotic output regulation, \(e\to 0\), proviced the initial conditions are in a neighborhood of the origin. Necessary and sufficient conditions for the solvability of the regulation problem are derived using the ideas of immersion of systems. For particular classes of nonlinear systems, this is extended to a semi global result. For the entire collection see [Zbl 0864.00079].