Global nonlinear output regulation: Convergence-based controller design

In this paper we present output-feedback controllers solving the global output regulation problem for a class of nonlinear systems. The proposed controllers are based on the notion of convergent systems. The presented solution extends well-established results on the linear output regulation problem and the local nonlinear output regulation problem to the global case. For Lur’e systems, which are not necessarily in the output-feedback form, the proposed controllers can be found by solving the regulator equations and certain linear matrix inequalities. For systems in the output-feedback form with uncertain parameters and uncertain nonlinearities we provide a robust regulator that does not rely on the minimum phaseness assumption on the system, which is crucial in the previous regulator designs for output-feedback systems. The results are illustrated by examples. ᭧ 2006 Elsevier Ltd. All rights reserved.

• Type: Journal
• Year: 2007
• Where: AUTOMATICA
• Authors: Alexey V. Pavlov, Nathan van de Wouw, Henk Nijmeijer
• Keywords: AUTOMATICA 2007, Global Output Regulation, Output Regulation Problem, Systems