In the present paper we consider a general nonlinear output regulation problem in which the regulated error is unmeasurable. It is assumed that the interconnection of the controlled plant with the exosystem observed through the measured output satisfies some appropriate observability conditions that allow the design of an asymptotic observer. Then, the contribution of this paper consists in showing that in the latter scenario, a design based on certainty equivalence is effective for determining a controller that achieves semiglobal output regulation. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.
Certainty equivalence in nonlinear output regulation with unmeasurable regulated error / Celani, Fabio. - 17:1 PART 1(2008), pp. 12147-12152. (Intervento presentato al convegno 17th IFAC World Congress tenutosi a Seoul; Korea, Republic of) [10.3182/20080706-5-KR-1001.02057].
Certainty equivalence in nonlinear output regulation with unmeasurable regulated error
CELANI, FABIO
2008
Abstract
In the present paper we consider a general nonlinear output regulation problem in which the regulated error is unmeasurable. It is assumed that the interconnection of the controlled plant with the exosystem observed through the measured output satisfies some appropriate observability conditions that allow the design of an asymptotic observer. Then, the contribution of this paper consists in showing that in the latter scenario, a design based on certainty equivalence is effective for determining a controller that achieves semiglobal output regulation. Copyright © 2007 International Federation of Automatic Control All Rights Reserved.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.