A reduction paradigm for output regulation

The goal of this paper is to provide a reduction paradigm for the design of output regulators which can be of interest for nonlinear as well as linear uncertain systems. The main motivation of the work is to provide a systematic design tool to deal with non-minimum-phase uncertain systems for which conventional high gain stabilization methods are not effective. The contribution of the work is two-fold. First, this work extends a previous reduction paradigm for output regulation of nonlinear systems. Furthermore, in the case of the uncertain controlled dynamics being linear, we show how the proposed framework leads to a number of systematic design tools of interest for non-minimum-phase linear systems affected by sever uncertainties. A numerical control example of a linearized model of an inverted pendulum on a cart is presented.