Global robust output regulation for a class of multivariable systems

In this paper, we study the global robust output regulation problem for a class of multivariable nonlinear systems. The problem is first converted into a stabilization problem of an augmented system composed of the original plant and an internal model. The augmented system is a multi‐input system containing both dynamic uncertainty and time‐varying static uncertainty. By decomposing the multi‐input control problem into several single‐input control problems, we will solve the problem by solving several single‐input control problems via a recursive approach utilizing the changing supply function technique. The theoretical result is applied to the speed tracking control and load torque disturbance rejection problem of a surface‐mounted permanent magnet synchronous motor. Copyright © 2011 John Wiley & Sons, Ltd.