Global nonlinear output regulation: Convergence-based controller design |
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Authors: | A Pavlov [Author Vitae] H Nijmeijer [Author Vitae] |
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Affiliation: | a Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim NO-7491, Norway b Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands |
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Abstract: | In this paper we present output-feedback controllers solving the global output regulation problem for a class of nonlinear systems. The proposed controllers are based on the notion of convergent systems. The presented solution extends well-established results on the linear output regulation problem and the local nonlinear output regulation problem to the global case. For Lur’e systems, which are not necessarily in the output-feedback form, the proposed controllers can be found by solving the regulator equations and certain linear matrix inequalities. For systems in the output-feedback form with uncertain parameters and uncertain nonlinearities we provide a robust regulator that does not rely on the minimum phaseness assumption on the system, which is crucial in the previous regulator designs for output-feedback systems. The results are illustrated by examples. |
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Keywords: | Output regulation Nonlinear control systems Convergent systems Non-minimum phase systems Lur&rsquo e systems |
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