DocumentCode :
1743541
Title :
Semiglobal nonlinear output regulation with adaptive internal model
Author :
Serrani, Andrea ; Isidori, Alberto
Author_Institution :
Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA
Volume :
2
fYear :
2000
fDate :
2000
Firstpage :
1649
Abstract :
We address the problem of output regulation for nonlinear systems driven by a linear exosystem whose natural frequencies are not known a priori. We present a classical solution in terms of the parallel connection of a robust stabilizer and an internal model, where the latter is adaptively tuned to the device that reproduces the control required to maintain the output-zeroing condition. We obtain robust regulation (i.e. in presence of parameter uncertainties) with a semiglobal domain of convergence for a significant class of nonlinear minimum-phase system
Keywords :
asymptotic stability; closed loop systems; control system synthesis; multidimensional systems; nonlinear control systems; state estimation; adaptive internal model; classical solution; linear exosystem; nonlinear minimum-phase system; output-zeroing condition; parallel connection; parameter uncertainties; robust regulation; robust stabilizer; semiglobal nonlinear output regulation; Automatic control; Control systems; Equations; Error correction; Frequency; Mathematical model; Nonlinear control systems; Nonlinear systems; Uncertainty; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
ISSN :
0191-2216
Print_ISBN :
0-7803-6638-7
Type :
conf
DOI :
10.1109/CDC.2000.912098
Filename :
912098
Link To Document :
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