Asymptotic tracking of uncertain Volterra system

This paper investigates the practical aspects of nonlinear output regulation theory for Volterra systems developed recently. A controller is synthesized for a nonlinear pendulum system. This controller is then compared with a controller based on conventional linear control theory through extensive simulations. This comparison clearly shows that the controller based on nonlinear output regulation theory significantly outperforms the one based on linear output regulation theory in terms of the tracking error and robustness towards parameter variations.