Integral Action in Output Feedback for Multi-Input Multi-Output Nonlinear Systems

DOI10.1109/TAC.2016.2599784zbMATH Open1366.93485OpenAlexW2198472822MaRDI QIDQ5282409FDOQ5282409

Authors Daniele Astolfi, Laurent Praly

Publication date 27 July 2017

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1508.00476

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Stabilization of systems by feedback (93D15) Adaptive or robust stabilization (93D21)

Abstract: We address a particular problem of output regulation for multi-input multi-output nonlinear systems. Specifically, we are interested in making the stability of an equilibrium point and the regulation to zero of an output, robust to (small) unmodelled discrepancies between design model and actual system in particular those introducing an offset. We propose a novel procedure which is intended to be relevant to real life systems, as illustrated by a (non academic) example.

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Cited in

(14)

• Total stability of equilibria motivates integral action in discrete-time nonlinear systems
• Forwarding techniques for the global stabilization of dissipative infinite-dimensional systems coupled with an ODE
• A discontinuous integral action for robust output tracking in uncertain linear systems
• Harmonic internal models for structurally robust periodic output regulation
• Stabilization of nonlinear systems in presence of filtered output via extended high-gain observers
• ISS Lyapunov Strictification via Observer Design and Integral Action Control for a Korteweg–de Vries Equation
• Output Regulation of Infinite-Dimensional Nonlinear Systems: A Forwarding Approach for Contraction Semigroups
• Trajectory tracking with integral action of switched periodic affine systems
• Discontinuous Integral Control for Systems with Arbitrary Relative Degree
• Low-power peaking-free high-gain observers
• Nonlinear integral control with event-triggered feedback: unknown decay rates, zeno-freeness, and asymptotic convergence
• Robust I\&I adaptive tracking control of systems with nonlinear parameterization: an ISS perspective
• Nonlinear robust periodic output regulation of minimum phase systems
• Design of local observers for autonomous nonlinear systems not in observability canonical form

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