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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.