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Integral Action in Output Feedback for Multi-Input Multi-Output Nonlinear Systems

Daniele Astolfi 1 Laurent Praly 2
1 CASY-DEIS - Center for Research on Complex Automated Systems
2 CAS - Centre Automatique et Systèmes
Abstract : We address a particular problem of output regulation for multi-input multi-output nonlinear systems. Specifically, we are interested in making the stability of an equilibrium point and the regulation to zero of an output ro- bust to (small) unmodelled discrepancies between design model and actual system in particular those introducing an offset. We propose a novel procedure which is intended to be relevant to realistic scenarios, as illustrated by a (non academic) example.
Keywords : Forwarding high-gain observer integral action nonlinear control non-minimum phase systems ob- servability output feedback robust regulation semi-global stabilization uncertain dynamic system.
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https://hal-mines-paristech.archives-ouvertes.fr/hal-01544527
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Submitted on : Wednesday, June 21, 2017 - 4:58:06 PM
Last modification on : Friday, October 30, 2020 - 12:04:03 PM

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Daniele Astolfi, Laurent Praly. Integral Action in Output Feedback for Multi-Input Multi-Output Nonlinear Systems. IEEE Transactions on Automatic Control, Institute of Electrical and Electronics Engineers, 2017, 62 (4), ⟨10.1109/TAC.2016.2599784⟩. ⟨hal-01544527⟩

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