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EnglishThis 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.
| Titolo: | Non-Resonance Conditions for Uniform Observability in the Problem of Nonlinear Output Regulation |
| Autore/i: | MARCONI, LORENZO; A. Isidori; A. Serrani |
| Autore/i Unibo: | |
| Anno: | 2004 |
| Rivista: | |
| Digital Object Identifier (DOI): | http://dx.doi.org/10.1016/j.sysconle.2004.05.006 |
| 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. |
| Data prodotto definitivo in UGOV: | 2005-10-19 16:47:10 |
| Appare nelle tipologie: | 1.01 Articolo in rivista |
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http://hdl.handle.net/11585/18835
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