Global nonlinear output regulation: Convergence-based controller design

作者：Pavlov A^*; van de Wouw N; Nijmeijer H

来源：Automatica, 2007, 43(3): 456-463.

DOI：10.1016/j.automatica.2006.09.007

• output regulation
• nonlinear control systems
• convergent systems
• non-mimmum phase systems
• Lur'e systems

In this paper we present output-feedback controllers solving the global output regulation problem for a class of nonlinear systems. The proposed controllers are based on the notion of convergent systems. The presented solution extends well-established results on the linear output regulation problem and the local nonlinear output regulation problem to the global case. For Lur'e systems, which are not necessarily in the output-feedback form, the proposed controllers can be found by solving the regulator equations and certain linear matrix inequalities. For systems in the output-feedback form with uncertain parameters and uncertain nonlinearities we provide a robust regulator that does not rely on the minimum phaseness assumption on the system, which is crucial in the previous regulator designs for output-feedback systems. The results are illustrated by examples.

• 出版日期2007-3