Brief paper: Global nonlinear output regulation: Convergence-based controller design

Authors:
A. Pavlov;N. van de Wouw;H. Nijmeijer
Affiliations:
Department of Engineering Cybernetics, Norwegian University of Science and Technology, Trondheim NO-7491, Norway;Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands;Department of Mechanical Engineering, Eindhoven University of Technology, P.O. Box 513, 5600 MB Eindhoven, The Netherlands
Venue:
Automatica (Journal of IFAC)
Year:
2007

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Abstract

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.