Robust implementable regulator design of linear systems with non-vanishing measurements

DOI10.1016/J.AUTOMATICA.2022.110418MaRDI QIDQ2158975zbMATH OpenOpenAlexFDO

Authors Lei Wang, Lorenzo Marconi, Christopher M. Kellett

Publication date 26 July 2022

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2102.13413

zbMATH Keywords

generalized hold deviceinternal modelrobust output regulationsamplingwashout filter

Mathematics Subject Classification ID

Design techniques (robust design, computer-aided design, etc.) (93B51) Linear systems in control theory (93C05) Digital control/observation systems (93C62)

Abstract: Robust implementable output regulator design approaches are studied for general linear continuous-time mbox{systems} with periodically sampled measurements, consisting of both the regulation errors and extra measurements that are generally non-vanishing in steady state. A digital regulator is first developed via the conventional emulation-based approach, rendering the regulation errors asymptotically bounded with a small sampling period. We then develop a hybrid design framework by incorporating a generalized hold device, which transforms the original problem into the problem of designing an output feedback controller fulfilling two conditions for a discrete-time system. We show that such a controller can always be obtained by designing a discrete-time internal model, a discrete-time washout filter, and a discrete-time output feedback stabilizer. As a result, the regulation errors are shown to be globally exponentially convergent to zero, while the sampling period is fixed but can be arbitrarily large. This design framework is further developed for a multi-rate digital regulator with a large sampling period of the measurements and a small control execution period.

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Cited in

(6)

• The design of a linear regulator based on an integral-equation representation
• Output regulation of stochastic sampled-data systems with post-processing internal model
• Periodic event-based robust output regulation for a class of uncertain linear systems with inter-event analysis
• Singularity-free adaptive control of MIMO discrete-time nonlinear systems with general vector relative degrees
• Event-triggered robust practical output regulation of linear systems with non-vanishing measurements
• Extremum seeking nonlinear regulator with concurrent uncertainties in exosystems and control directions

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