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.
L. Marconi, A. Isidori, A. Serrani (2004). Non-Resonance Conditions for Uniform Observability in the Problem of Nonlinear Output Regulation. SYSTEMS & CONTROL LETTERS, 53, 281-298 [10.1016/j.sysconle.2004.05.006].
Non-Resonance Conditions for Uniform Observability in the Problem of Nonlinear Output Regulation
MARCONI, LORENZO;A. Serrani
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
