Semi-global nonlinear output regulation with adaptive internalmodel
Serrani, A.; Isidori, A.; Marconi, L.
Automatic Control, IEEE Transactions on
Volume 46, Issue 8, Aug 2001 Page(s):1178 - 1194
Digital Object Identifier   10.1109/9.940923
Summary:We address the problem of output regulation for nonlinear systems driven by a linear, neutrally stable exosystem whose frequencies are not known a priori. We present a classical solution in terms of the parallel connection of a robust stabilizer and an internal model, where the latter is adaptively tuned to the device that reproduces the steady-state control necessary to maintain the output-zeroing condition. We obtain robust regulation (i.e. in presence of parameter uncertainties) with a semi-global domain of convergence for a significant class of nonlinear minimum-phase system

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