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EnglishIn this paper we deal with the problem of output regulation for nonminimum-phase nonlinear systems. The main goal is to provide a unifying framework in which a number of results recently proposed on the subject can be framed. The underlying idea is to formulate a design paradigm based on zero-dynamics re-design which allows one to adopt high-gain techniques as key stabilization tool. By drawing inspiration from results known in a linear setting, two possible zero-dynamics redesign techniques will be explored: the first is based on the design of a feed-through compensator aiming to achieve nice asymptotic properties of the zero-dynamics by dynamical input-error re-design. The second is based on design techniques of time-varying fast controllers which extend, to a nonlinear setting, robust zero-assignment techniques known for linear systems as "vibrational feedback".
| Titolo: | A Zero-Dynamics Re-Design Approach to Problems of Nonlinear Output Regulation |
| Autore/i: | A. Isidori; MARCONI, LORENZO |
| Autore/i Unibo: | |
| Anno: | 2010 |
| Rivista: | |
| Abstract: | In this paper we deal with the problem of output regulation for nonminimum-phase nonlinear systems. The main goal is to provide a unifying framework in which a number of results recently proposed on the subject can be framed. The underlying idea is to formulate a design paradigm based on zero-dynamics re-design which allows one to adopt high-gain techniques as key stabilization tool. By drawing inspiration from results known in a linear setting, two possible zero-dynamics redesign techniques will be explored: the first is based on the design of a feed-through compensator aiming to achieve nice asymptotic properties of the zero-dynamics by dynamical input-error re-design. The second is based on design techniques of time-varying fast controllers which extend, to a nonlinear setting, robust zero-assignment techniques known for linear systems as "vibrational feedback". |
| Data prodotto definitivo in UGOV: | 2010-12-21 10:30:19 |
| Appare nelle tipologie: | 1.01 Articolo in rivista |
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