Output regulation of a class of nonlinear systems: Two-input control scheme

This paper concerns a class of nonlinear systems with nonlinear inputs. Using the step-by-step design procedure and stable inversion conditions, the proposed dynamic state feedback with numerical implementation can provide asymptotic output regulation. Based on the two-input control scheme and an extended linearization technique, closed-loop stability can be guaranteed. Through a complete theoretical analysis of a two-input process, the additional control freedom of such design can enhance both system performance and robustness. Under a parametric transformation and a step-by-step design procedure, a Large control action for suppressing unknown disturbancess can be distributed, and a two-timescale linearized model can be established. Finally, the proposed methodologies are all evaluated through simulations for the control of two continuous-stirred tank reactors in series.