The asymptotically robust perfect tracking for minimum-phase nonlinear systems

被引：0
|
作者：
Marconi, L [1 ]
Isidori, A [1 ]
机构：
[1] Univ Bologna, Dipartimento Elettron Informat & Sistemist, I-40136 Bologna, Italy
来源：
NONLINEAR CONTROL SYSTEMS DESIGN 1998, VOLS 1& 2 | 1998年
关键词：
output regulation; minimum-phase systems; nonlinear systems; zero error; inverse system;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper the problem of perfect tracking of a reference trajectory generated by a neutrally stable exosystem is addressed for nonlinear systems. The main goal of the paper is to complete, with a feedforward unit, a standard feedback regulator designed to achieve the robust (with respect to a unknown parameter affecting the model of the system) asymptotic tracking of the reference trajectory. The feedforward unit is designed so that in case the unknown parameter assumes a known nominal value the perfect tracking is achieved, while, in the general case, the asymptotic tracking of the reference is guaranteed anyway. The analysis is carried out for minimum-phase nonlinear systems. Copyright (C) 1998 IFAC.
引用
收藏
页码：835 / 840
页数：6
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