Finite difference solution of discrete-time regulator equation and its application to digital output regulation problem

Authors:
Branislav Rehák;Sergej Čelikovsky
Affiliations:
Institute of Information Theory and Automation, Praha 8, Czech Republic;Institute of Information Theory and Automation, Praha 8, Czech Republic and Czech Technical University, Faculty of Electrical Engineering, Praha 6, Czech Republic
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 3
Cited 0

Nonlinear regulation for a class of discrete-time systems

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Brief paper: Numerical method for the solution of the regulator equation with application to nonlinear tracking

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Abstract

A method for the solution of the regulator equation for the discrete-time nonlinear output regulation problem is presented. This method is based on solution of the regulator equation by finite differences. Moreover, the algebraic condition guaranteeing zero tracking error is replaced by an error functional whose value decreases to zero in an iterative process. The conditions guaranteeing convergence are shown together with some important details for implementation of the scheme. The method is verified on an example.