Francis-Wonham nonlinear viewpoint in output regulation of minimum phase systems

Daniele Astolfi (1, 2) , Laurent Praly (3) , Lorenzo Marconi (4)

1 CNRS - Centre National de la Recherche Scientifique
2 LAGEPP - Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique
3 CAS - Centre Automatique et Systèmes
4 UNIBO - Alma Mater Studiorum Università di Bologna = University of Bologna

The paper deals with the problem of output regulation for nonlinear systems under the assumption of periodic exosystem. We build on the results presented in Astolfi et al. (2015) showing that asymptotic regulation can be achieved with an infinite dimensional regulator embedding a linear internal model copying all the harmonics that are multiple of the one associated to the exosystem. The regulator follows a post-processing structure in which the (infinite dimensional) internal model is driven by the error and a static stabiliser is considered for the cascade extended system. The post-processing structure traces the one proposed by Francis and Wonham into a linear framework. The presented analysis is limited to nonlinear systems that have unitary relative degree and that are minimum-phase.

Domaines: Systèmes et contrôle [cs.SY]; Automatique / Robotique

Daniele Astolfi, Laurent Praly, Lorenzo Marconi. Francis-Wonham nonlinear viewpoint in output regulation of minimum phase systems. 11th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2019), Sep 2019, Vienna, Austria. ⟨hal-02411369⟩