Semi-global nonlinear output regulation with adaptive internalmodel
Serrani, A.
Isidori, A.
Marconi, L.
Dipartimento di Elettronica e Autom., Ancona Univ. ;
This paper appears in: Automatic Control, IEEE Transactions on
Publication Date: Aug 2001
Volume: 46,
Issue: 8
On page(s): 1178-1194
ISSN: 0018-9286
References Cited: 36
CODEN: IETAA9
INSPEC Accession Number: 7020630
Digital Object Identifier: 10.1109/9.940923
Current Version Published: 2002-08-07
Abstract
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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