In this paper we deal with the problem of output regulation for possibly non-minimum-phase nonlinear systems. The main goal is to provide a unifying framework for a number of recently proposed results. The underlying idea is to use a design paradigm based on zero-dynamics re-design which reduces the problem to a problem of set stabilization using high-gain feedback. In this unified setting, we are also able to show that uncertainties on the value of the so-called "high-frequency gain" coefficient of the system can be effectively handled by means of periodically varying controllers. This extends, to a nonlinear setting, robust zero-assignment techniques known for linear systems as "vibrational feedback". Copyright © 2010 Watam Press.
A zero-dynamics re-design approach to problems of nonlinear output regulation / Isidori, Alberto; L., Marconi. - In: DYNAMICS OF CONTINUOUS, DISCRETE AND IMPULSIVE SYSTEMS. SERIES A: MATHEMATICAL ANALYSIS. - ISSN 1201-3390. - 17:6(2010), pp. 809-827.
A zero-dynamics re-design approach to problems of nonlinear output regulation
ISIDORI, Alberto;
2010
Abstract
In this paper we deal with the problem of output regulation for possibly non-minimum-phase nonlinear systems. The main goal is to provide a unifying framework for a number of recently proposed results. The underlying idea is to use a design paradigm based on zero-dynamics re-design which reduces the problem to a problem of set stabilization using high-gain feedback. In this unified setting, we are also able to show that uncertainties on the value of the so-called "high-frequency gain" coefficient of the system can be effectively handled by means of periodically varying controllers. This extends, to a nonlinear setting, robust zero-assignment techniques known for linear systems as "vibrational feedback". Copyright © 2010 Watam Press.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.