Integral Action in Output Feedback for Multi-Input Multi-Output Nonlinear Systems

被引：50

作者：

Astolfi, Daniele ^{[1
]}

Praly, Laurent ^{[2
]}

机构：

[1] Univ Bologna, CASY DEI, I-40123 Bologna, Italy

[2] PSL Res Univ, MINES ParisTech, CAS, F-75006 Paris, France

来源：

IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2017年 / 62卷 / 04期

关键词：

Forwarding; high-gain observer; integral action; nonlinear control; non-minimum phase systems; observability; output feedback; robust regulation; semi-global stabilization; uncertain dynamic system; SEMIGLOBAL STABILIZATION; CONTROLLERS; PRINCIPLE;

D O I：

10.1109/TAC.2016.2599784

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We address a particular problem of output regulation for multi-input multi-output nonlinear systems. Specifically, we are interested in making the stability of an equilibrium point and the regulation to zero of an output robust to (small) unmodelled discrepancies between design model and actual system in particular those introducing an offset. We propose a novel procedure which is intended to be relevant to realistic scenarios, as illustrated by a (non academic) example.

引用

页码：1559 / 1574

页数：16

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