Output regulation by postprocessing internal models for a class of multivariable nonlinear systems

DOI10.1002/RNC.4811zbMATH Open1447.93283arXiv2111.12678OpenAlexW2995720468MaRDI QIDQ3300435FDOQ3300435

Authors: Michelangelo Bin, Lorenzo Marconi 

Publication date: 29 July 2020

Published in: International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Abstract: In this paper we propose a new design paradigm, which employing a postprocessing internal model unit, to approach the problem of output regulation for a class of multivariable minimum-phase nonlinear systems possessing a partial normal form. Contrary to previous approaches, the proposed regulator handles control inputs of dimension larger than the number of regulated variables, provided that a controllability assumption holds, and can employ additional measurements that need not to vanish at the ideal error-zeroing steady state, but that can be useful for stabilization purposes or to fulfil the minimum-phase requirement. Conditions for practical and asymptotic output regulation are given, underlying how in postprocessing schemes the design of internal models is necessarily intertwined with that of the stabilizer.

Full work available at URL: https://arxiv.org/abs/2111.12678

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zbMATH Keywords

nonlinear controloutput regulationstabilizationinternal modelmultivariable systems

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Multivariable systems, multidimensional control systems (93C35) Asymptotic stability in control theory (93D20)

Cited In (12)

• Global robust output regulation of a class of MIMO nonlinear systems by nonlinear internal model control
• Trajectory tracking control of Euler-Lagrange systems with ISS-like robustness to actuator noises
• Multi‐innovation gradient parameter estimation for multivariable systems based on the maximum likelihood principle
• Global asymptotic stability of nonlinear strict feedback system via backstepping control approach
• Instrumental variable‐based multi‐innovation gradient estimation for nonlinear systems with scarce measurements
• Global position tracking control of PMSM servo system via internal model approach and experimental validations
• Robust output regulation for unknown nonlinear strict‐feedback systems with input delay
• Synthesis of an internal model for non-linear output regulation
• Constructive Nonlinear Internal Models for Global Robust Output Regulation and Application
• Pre-processing nonlinear output regulation with non-vanishing measurements
• Periodic event-based robust output regulation for a class of uncertain linear systems with inter-event analysis
• “Class-Type” Identification-Based Internal Models in Multivariable Nonlinear Output Regulation

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