Double-blind review

I.-C. Morărescu (1)

1 CRAN - Centre de Recherche en Automatique de Nancy

This paper investigates the robust semi-global output regulation of uncertain linear two time scales systems with input saturation. In this setup, one cannot apply off-the-shelf techniques to reject structural uncertainties due to numerical issues caused by the two time scales but also due to technical issues generated by the input saturation. To solve this problem we combine internal model principle with low gain technique and singular perturbation theory. Explicitly, the output regulation controller design is based on the computation of the solutions of a Sylvester equation which are hard to get in the two time scales settings. To overcome this, we propose an easily solvable equation and the existence and uniqueness of its solution are guaranteed under some standard assumptions. Accordingly, an internal model based controller is designed such that the semiglobal robust output regulation problem can be solved. In order to cope with the input saturation we impose that the ultimate upper bound of the infinity-norm of the exosystem state is limited and satisfies certain constrains. Finally, a numerical example is provided to illustrate the effectiveness of the results.

Mots clés: Two-time-scale robust output regulation input saturation internal model; Two-time-scale; robust output regulation; input saturation; internal model

Domaines: Automatique

I.-C. Morărescu. Double-blind review. 2022. ⟨hal-03900353v1⟩