This paper deals with the design of an internal model-based semiglobal output feedback regulator for possibly nonminimum phase nonlinear systems. Taking advantage of the design tool denoted "Unlocking zero-dynamics", we show how the problem of output regulation can be reformulated into an output feedback stabilization problem of a suitably-defined "extended auxiliary system". The output feedback stabilization of the extended auxiliary system is addressed in the second part of the paper, where an observer-based stabilizer is proposed. The existence of the latter is characterized in terms of necessary and sufficient conditions which can be interpreted as nonlinear "non-resonance conditions" between the modes of the exosystem and the zero dynamics of the controlled plant.

Non-Resonance Conditions for Uniform Observability in the Problem of Nonlinear Output Regulation

MARCONI, LORENZO;
2004

Abstract

This paper deals with the design of an internal model-based semiglobal output feedback regulator for possibly nonminimum phase nonlinear systems. Taking advantage of the design tool denoted "Unlocking zero-dynamics", we show how the problem of output regulation can be reformulated into an output feedback stabilization problem of a suitably-defined "extended auxiliary system". The output feedback stabilization of the extended auxiliary system is addressed in the second part of the paper, where an observer-based stabilizer is proposed. The existence of the latter is characterized in terms of necessary and sufficient conditions which can be interpreted as nonlinear "non-resonance conditions" between the modes of the exosystem and the zero dynamics of the controlled plant.
2004
L. Marconi; A. Isidori; A. Serrani
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11585/18835
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