Paper Info
Title
Semi-Global Robust Output Regulation Of Minimum-Phase Nonlinear Systems Based On High-Gain Nonlinear Internal Model
Abstract
We consider the assumption of existence of the general nonlinear internal model that is introduced in the design of robust output regulators for a class of minimum-phase nonlinear systems with rth degree (r >= 2). The robust output regulation problem can be converted into a robust stabilisation problem of an augmented system consisting of the given plant and a high-gain nonlinear internal model, perfectly reproducing the bounded including not only periodic but also nonperiodic exogenous signal from a nonlinear system, which satisfies some general immersion assumption. The state feedback controller is designed to guarantee the asymptotic convergence of system errors to zero manifold. Furthermore, the proposed scheme makes use of output feedback dynamic controller that only processes information from the regulated output error by using high-gain observer to robustly estimate the derivatives of the regulated output error. The stabilisation analysis of the resulting closed-loop systems leads to regional as well as semi-global robust output regulation achieved for some appointed initial condition in the state space, for all possible values of the uncertain parameter vector and the exogenous signal, ranging over an arbitrary compact set.
Year
DOI
Venue
2010
10.1080/00207170903544676
INTERNATIONAL JOURNAL OF CONTROL
Keywords
Field
DocType
high-gain, nonlinear internal model, output regulation, semi-global stabilisation
Convergence (routing),Control theory,Mathematical optimization,Nonlinear system,Nonlinear control,Full state feedback,Control theory,Observer (quantum physics),Mathematics,Minimum phase,Internal model
Journal
Volume
Issue
ISSN
83
5
0020-7179
Citations 
PageRank 
References 
0
0.34
7
Authors
6
Name
Order
Citations
PageRank
Xile Wei18817.97
Meili Lu2405.88
Jiang Wang321446.99
K. M. Tsang48713.94
Bin Deng514127.59
Yanqiu Che65310.15