| Abstract: | The goal of this paper is to provide a reduction paradigm for the design of output regulators which can be of interest for nonlinear as well as linear uncertain systems. The main motivation of the work is to provide a systematic design tool to deal with non‐minimum‐phase uncertain systems for which conventional high‐gain stabilization methods are not effective. The contribution of the work is two‐fold. First, this work extends a previous reduction paradigm for output regulation of nonlinear systems. Furthermore, in the case of the uncertain controlled dynamics being linear, we show how the proposed framework leads to a number of systematic design tools of interest for non‐minimum‐phase linear systems affected by severe uncertainties. A numerical control example of a linearized model of an inverted pendulum on a cart is presented. Copyright © 2007 John Wiley & Sons, Ltd. |
