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Recent advances in output regulation of nonlinear systems. (English) Zbl 0989.93041
Isidori, Alberto (ed.) et al., Nonlinear control in the year 2000. Vol. 2. London: Springer. Lect. Notes Control Inf. Sci. 259, 409-419 (2001).
The paper describes an approach to the regulation of a measured error of nonlinear dynamics based on output feedback into an internal model reference equation. It is also required that the outcome be robust to persistent bounded perturbations within a prescribed region. Several versions of the problems are offered, treating, respectively, semi-global output regulation, global regulation and adaptive internal models. The approach is geometrical, assuming smooth nonlinearities, which allow diffeomorphic equivalence to normal forms. The paper then shows how the internal model properties, which are directly related to the geometric considerations, can yield the desired regulation. A convincing, enlightening example is offered of a vertical landing and takeoff air vehicle required to land on a sea vessel when only the tracking errors and their derivatives are available.
For the entire collection see [Zbl 0953.00023].

MSC:
93B51 Design techniques (robust design, computer-aided design, etc.)
93C10 Nonlinear systems in control theory
93-02 Research exposition (monographs, survey articles) pertaining to systems and control theory
93D15 Stabilization of systems by feedback
93C40 Adaptive control/observation systems
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