Uniform Practical Nonlinear Output Regulation

Lorenzo Marconi (1) , Laurent Praly (2)

1 CASY-DEIS - Center for Research on Complex Automated Systems
2 CAS - Centre Automatique et Systèmes

In this paper, we present a solution to the problem of asymptotic and practical semiglobal regulation by output feedback for nonlinear systems. A key feature of the proposed approach is that practical regulation is achieved uniformly with respect to the dimension of the internal model and to the gain of the stabilizer near the zero error manifold. This property renders the approach interesting for a number of real cases by bridging the gap between output regulation theory and advanced engineering applications. Simulation results regarding meaningful control problems are also presented.

Mots clés: Disturbance suppression; output feedback; output regulation; output tracking; robust control

Domaines: Automatique / Robotique

Lorenzo Marconi, Laurent Praly. Uniform Practical Nonlinear Output Regulation. IEEE Transactions on Automatic Control, 2008, 53 (5), pp.1184 - 1202. ⟨10.1109/TAC.2008.923674⟩. ⟨hal-00449311⟩