A Unifying Approach to the Design of Nonlinear Output Regulators
The goal of this paper is to propose a unique vision able to frame a number of results recently proposed in literature to tackle problems of output regulation for nonlinear systems. This is achieved by introducing the so-called asymptotic internal model property as the crucial property which, if fulfilled, leads to the design of the regulator for a fairly general class of nonlinear systems satisfying a proper minimum-phase condition. It is shown that recent frameworks based upon the use of nonlinear high-gain and adaptive observer techniques for the regulator design can be cast in this setting. A recently proposed technique for output regulation without immersion is also framed in these terms.
KeywordsInternal Model SIAM Journal Output Regulation Output Feedback Controller Adaptive Observer
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