The main goal of this paper is to show that the so-called "immersion assumption" is not in principle needed in solving a problem of nonlinear output regulation by output feedback. Under the only assumption that the zero dynamics of the controlled system have bounded trajectories, it is shown that there exists a controller solving the problem. The design procedure illustrated in the paper is based on some recent results, developed in [1], on the theory of nonlinear state observers originally proposed in [16]. The internal model obtained in this way is a linear Hurwitz system with nonlinear output map. © 2005 IEEE.

Nonlinear output regulation without immersion / C. I., Byrnes; Isidori, Alberto; L., Marconi; L., Praly. - 2005:(2005), pp. 3315-3320. (Intervento presentato al convegno 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 tenutosi a Seville; Spain nel 12 December 2005 through 15 December 2005) [10.1109/cdc.2005.1582673].

Nonlinear output regulation without immersion

ISIDORI, Alberto;
2005

Abstract

The main goal of this paper is to show that the so-called "immersion assumption" is not in principle needed in solving a problem of nonlinear output regulation by output feedback. Under the only assumption that the zero dynamics of the controlled system have bounded trajectories, it is shown that there exists a controller solving the problem. The design procedure illustrated in the paper is based on some recent results, developed in [1], on the theory of nonlinear state observers originally proposed in [16]. The internal model obtained in this way is a linear Hurwitz system with nonlinear output map. © 2005 IEEE.
2005
44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05
Bounded trajectories; Hurwitz system; Nonlinear output map
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Nonlinear output regulation without immersion / C. I., Byrnes; Isidori, Alberto; L., Marconi; L., Praly. - 2005:(2005), pp. 3315-3320. (Intervento presentato al convegno 44th IEEE Conference on Decision and Control, and the European Control Conference, CDC-ECC '05 tenutosi a Seville; Spain nel 12 December 2005 through 15 December 2005) [10.1109/cdc.2005.1582673].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/200439
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