International Journal of Robust and Nonlinear Control

Research Article

Semiglobal robust output regulation of minimum-phase nonlinear systems

Corresponding Author

Andrea Serrani

[email protected]

Department of Systems Science and Mathematics, Washington University, St. Louis, MO 63130, U.S.A.

Department of Systems Science and Mathematics, Washington University, St. Louis, MO 63130, U.S.A.===Search for more papers by this author

Alberto Isidori,

Alberto Isidori

Dipartimento di Informatica e Sistemistica, Università di Roma “La Sapienza”, 00184 Rome, Italy

Search for more papers by this author

Lorenzo Marconi,

Lorenzo Marconi

Dipartimento di Elettronica, Informatica e Sistemistica, Università degli Studi di Bologna, 40136 Bologna, Italy

Search for more papers by this author

Andrea Serrani,

Corresponding Author

Andrea Serrani

[email protected]

Department of Systems Science and Mathematics, Washington University, St. Louis, MO 63130, U.S.A.

Department of Systems Science and Mathematics, Washington University, St. Louis, MO 63130, U.S.A.===Search for more papers by this author

Alberto Isidori,

Alberto Isidori

Dipartimento di Informatica e Sistemistica, Università di Roma “La Sapienza”, 00184 Rome, Italy

Search for more papers by this author

Lorenzo Marconi,

Lorenzo Marconi

Dipartimento di Elettronica, Informatica e Sistemistica, Università degli Studi di Bologna, 40136 Bologna, Italy

Search for more papers by this author

First published: 03 April 2000

https://doi.org/10.1002/(SICI)1099-1239(20000430)10:5<379::AID-RNC482>3.0.CO;2-X

Citations: 39

About

PDF

Tools

Share a link

Email
Wechat
Bluesky

Abstract

In this paper, we address the problem of semiglobal robust output regulation for a general class of single-input, single-output nonlinear systems. The proposed solution does not require the assumption of input-to-state stability of the zero-dynamics of the plant. The design method is based on a classical decomposition of the control law into a stabilizing feedback and a feedforward control, where the latter is asymptotically reconstructed by an internal model. The scheme exploits the passivity properties of the internal model, and combines small-gain and high-gain feedback. Simulation results for an illustrative example are included. Copyright © 2000 John Wiley & Sons, Ltd.

REFERENCES

1 Byrnes CI, Delli Priscoli F, Isidori A, Kang W. Structurally stable output regulation of nonlinear systems. Automatica 1997; 33: 369–385.
10.1016/S0005-1098(96)00184-7
Web of Science® Google Scholar
2 Wonham WM. Linear Multivariable Control: A Geometric Approach, ( 2nd edn). Springer: New York, NY, 1979.
10.1007/978-1-4684-0068-7
Web of Science® Google Scholar
3 Khalil HK. Robust servomechanism output feedback controllers for feedback linearizable systems. Automatica 1994; 30: 1587–1599.
10.1016/0005-1098(94)90098-1
Web of Science® Google Scholar
4 Isidori A. A remark on the problem of semiglobal nonlinear output regulation. IEEE Transactions on Automatic Control 1997; AC-42: 1734–1738.
10.1109/9.650029
Web of Science® Google Scholar
5 Khalil HK. On the design of robust servomechanisms for minimum phase nonlinear systems. In Proceedings of the 37th IEEE Conference on Decision and Control (CDC 98), Tampa, FL, 1998.
Google Scholar
6 Mahmoud NA, Khalil HK. Asymptotic regulation of minimum phase nonlinear systems using output feedback. IEEE Transactions on Automatic Control 1996; AC-41(10): 1402–1412.
10.1109/9.539423
Web of Science® Google Scholar
7 Francis BA, Wonham WM. The internal model principle of control theory. Automatica 1976; 12: 457–465.
10.1016/0005-1098(76)90006-6
Web of Science® Google Scholar
8 Huang J, Lin CF. On a robust nonlinear multivariable servomechanism problem. In Proceedings of the 30th IEEE Conference on Decision and Control, Brighton, UK, December 1991; 2529–2530.
Google Scholar
9 Huang J, Lin CF. On a robust nonlinear multivariable servomechanism problem. IEEE Transactions on Automatic Control 1994; AC-39: 1510–1513.
10.1109/9.299646
Web of Science® Google Scholar
10 Delli Priscoli F. Robust tracking for polynomial plants. In Proceedings of the Second European Control Conference, Groeningen, NL, June 1993; 369–373.
Google Scholar
11 Byrnes CI, Delli Priscoli F, Isidori A. Output Regulation of Uncertain Nonlinear Systems. Birkhäuser: Boston, MA, 1997.
10.1007/978-1-4612-2020-6
Google Scholar
12 Mazenc F, Praly L. Adding integrators, saturated controls, and stabilization for feedforward systems. IEEE Transactions on Automatic Control 1996; AC-41(11): 1559–1578.
10.1109/9.543995
Web of Science® Google Scholar
13 Teel A, Praly L. Tools for semiglobal stabilization by partial and output feedback. SIAM Journal of Control and Optimization 1995; 33(5): 1443–1488.
10.1137/S0363012992241430
Web of Science® Google Scholar
14 Bacciotti A. Linear feedback: the local and potentially global stabilization of cascade systems. In Proceedings of the Second IFAC Symposium Nonlinear Control Systems Design, Bordeaux, France, June 1992.
Google Scholar
15 Sontag ED. Remarks on stabilization and input to state stablity. In Proceedings of the IEEE Conference on Decision and Control (CDC 89), Tampa, FL, 1989; 1376–1378.
Google Scholar
16 Wilson FW. The structure of the level surfaces of a Lyapunov function. Journal of Differential Equations 1997; 3: 323–329.
10.1016/0022-0396(67)90035-6
Web of Science® Google Scholar
17 Lin Y, Sontag ED, Wang Y. A smooth converse Lyapunov theorem for robust stability. SIAM Journal of Control and Optimization 1996; 34: 124–160.
10.1137/S0363012993259981
Web of Science® Google Scholar
18 Teel A. A nonlinear small gain theorem for the analysis of control systems with saturations. IEEE Transactions on Automatic Control 1996; 41(9): 1256–1270.
10.1109/9.536496
Web of Science® Google Scholar
19 Khalil HK. Nonlinear Systems, ( 2nd edn). Prentice-Hall: Upper Saddle River, NJ, 1996.
Google Scholar
20 Gantmacher FR. The Theory of Matrices, vol. 1. Chelsea Publishing Company: New York, NY, 1960.
Web of Science® Google Scholar
21 Esfandiari F, Khalil HK. Output feedback stabilization of fully linearizable systems. International Journal of Control 1992; 56: 1007–1037.
10.1080/00207179208934355
Web of Science® Google Scholar
22 Isidori A. Stabilization of nonlinear systems using output feedback. In Proceedings of the MTNS 98, Padova, Italy, July 1998.
Google Scholar

Citing Literature

Volume10, Issue5

Special Issue:Output Regulation for Nonlinear Systems

30 April 2000

Pages 379-396

Semiglobal robust output regulation of minimum-phase nonlinear systems

Abstract

REFERENCES

Citing Literature

References

Information

About Wiley Online Library

Help & Support

Opportunities

Connect with Wiley

Semiglobal robust output regulation of minimum-phase nonlinear systems

Abstract

REFERENCES

Citing Literature

References

Related

Information