Abstract
In this paper, we extend to the case of higher relative degree and uncertain high-frequency gain a recently proposed method for the solution of problems of output regulation for nonlinear systems. The method is applicable to systems with possibly unstable zero dynamics, in which case the problem at issue is addressed by rendering an appropriate auxiliary system stable, with a constrain on the gain. The dynamics of this auxiliary system only depend on the zero dynamics of the controlled plant, while the constraint on the gain only depends on some parameters of the exogenous input which have to be tracked.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Byrnes, C.I., Isidori, A.: Asymptotic stabilization of minimum phase nonlinear systems. IEEE Trans. Automat. Control 36, 1122–1137 (1991)
Byrnes, C.I., Isidori, A.: Nonlinear internal models for output regulation. IEEE Trans. Automat. Control 49, 2244–2247 (2004)
Delli Priscoli, F., Marconi, L., Isidori, A.: A dissipativity-based approach to output regulation of non-minimum-phase systems. Systems & Control Lett. 58, 584–591 (2009)
Delli Priscoli, F., Marconi, L., Isidori, A.: A method for robust regulation of non-mimimum-phase linear systems. In: Proc. IFAC ROCOND (2009)
Esfandiari, F., Khalil, H.: Output feedback stabilization of fully linearizable systems. Int. J. Control 56, 1007–1037 (1992)
Gauthier, J.P., Kupka, I.: Deterministic Observation Theory and Applications. Cambridge Univ. Press, Cambridge (2001)
Huang, J.: Nonlinear Output Regulation: Theory and Applications. SIAM, Philadephia (2004)
Huang, J., Lin, C.F.: On a robust nonlinear multivariable servomechanism problem. IEEE Trans. Automat. Control 39, 1510–1513 (1994)
Isidori, A., Byrnes, C.I.: Output regulation of nonlinear systems. IEEE Trans. Automat. Control 25, 131–140 (1990)
Isidori, A.: Nonlinear Control Systems, vol. II. Springer, London (1999)
Isidori, A., Marconi, L., Serrani, A.: Robust Autonomous Guidance: An Internal-Model Approach. Springer, London (2003)
Marconi, L., Isidori, A., Serrani, A.: Non-resonance conditions for uniform observability in the problem of nonlinear output regulation. Systems & Control Lett. 53, 281–298 (2004)
Marconi, L., Praly, L., Isidori, A.: Output stabilization via nonlinear Luenberger observers. SIAM J. Control and Optimization 45, 2277–2298 (2006)
Pavlov, A., van de Wouw, N., Nijmeijer, H.: Uniform Output Regulation of Nonlinear Systems: A Convergent Dynamics Approach. Birkhäuser, Boston (2006)
Serrani, A., Isidori, A., Marconi, L.: Semiglobal nonlinear output regulation with adaptive internal model. IEEE Trans. Autom. Control 46, 1178–1194 (2001)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer-Verlag Berlin Heidelberg
About this chapter
Cite this chapter
Isidori, A. (2010). Nonlinear Output Regulation: A Unified Design Philosophy. In: Willems, J.C., Hara, S., Ohta, Y., Fujioka, H. (eds) Perspectives in Mathematical System Theory, Control, and Signal Processing. Lecture Notes in Control and Information Sciences, vol 398. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-93918-4_8
Download citation
DOI: https://doi.org/10.1007/978-3-540-93918-4_8
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-93917-7
Online ISBN: 978-3-540-93918-4
eBook Packages: EngineeringEngineering (R0)