Pre-processing nonlinear output regulation with non-vanishing measurements

• Autores: Lei Wang, Lorenzo Marconi, Changyun Wen, Hongye Su
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Nº. 111, 2020
• Idioma: inglés
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• Resumen

  • The paper deals with the output regulation problem of linear and nonlinear systems in the presence of measurements that, besides the regulation error, might include also extra outputs non-vanishing in steady state. We first show that, for linear systems, any “pre-processing” internal model-based solution solving the problem in a robust way necessarily relies on a stabilizer blocking the steady state effect of the extra measurements through properly located zeros. Motivated by this, a nonlinear pre-processing design strategy, relying on a “washout filter” processing the non-vanishing measurements and generating a new output having zero steady state, is presented for nonlinear systems in a semiglobal setting. A new nonlinear non-resonance condition, underlying the stabilizability by output feedback of the cascade of the plant and the filter, is introduced.