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Output regulation of nonlinear systems

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2 Author(s)
Isidori, A. ; Dipartimento di Inf. e Sistematica, Roma Univ., Italy ; Byrnes, C.I.

The problem of controlling a fixed nonlinear plant in order to have its output track (or reject) a family of reference (or disturbance) signal produced by some external generator is discussed. It is shown that, under standard assumptions, this problem is solvable if and only if a certain nonlinear partial differential equation is solvable. Once a solution of this equation is available, a feedback law which solves the problem can easily be constructed. The theory developed incorporates previously published results established for linear systems

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Automatic Control, IEEE Transactions on  (Volume:35 ,  Issue: 2 )