A state space approach to the parameterization of output regulating controllers

The output regulation problem is a classic problem which needs updated machinery to be effectively applied in a switched or blended controller setting. For stabilizing controllers approaches with Youla parameterization has been crucial to the solution of many complex controller switching problems. This paper seeks similar benefits by developing a state-space based parameterization of output regulating controllers. A critical step in this approach involves augmenting the plant with the unstabilizable exogenous input. Lastly, a controller switching example for an active suspension quarter car model is considered where a switched controller based on the developed parameterization framework is shown to significantly minimize switching transients in comparison to one with Youla parameterization.