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A general framework for tackling the output regulation problem

机译：解决输出管制问题的一般框架

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摘要

Output regulation aims to achieve, in addition to closed-loop stability, asymptotic tracking and disturbance rejection for a class of reference inputs and disturbances. Thus, it poses a more challenging problem than stabilization. For over a decade, the nonlinear output regulation problem has been one of the focuses in nonlinear control research, and active research on this problem has generated many fruitful results. Nevertheless, there are two hurdles that impede the further progress of the research on the output regulation problem. The first one is the assumption that the solution or the partial solution of the regulator equations is polynomial. The second one is the lack of a systematic mechanism to handle the global robust output regulation problem. We establish a general framework that systematically converts the robust output regulation problem for a general nonlinear system into a robust stabilization problem for an appropriately augmented system. This general framework, on one hand, relaxes the polynomial assumption, and on the other hand, offers a greater flexibility to incorporate recent new stabilization techniques, thus setting a stage for systematically tackling the robust output regulation with global stability.
机译：输出调节的目标是，除了闭环稳定性之外，还针对一类参考输入和干扰实现渐近跟踪和干扰抑制。因此，与稳定相比，它提出了更具挑战性的问题。十多年来，非线性输出调节问题一直是非线性控制研究的重点之一，对此问题的积极研究取得了丰硕的成果。然而，有两个障碍阻碍了对输出调节问题的研究的进一步发展。第一个假设是调节器方程的解或偏解是多项式。第二个问题是缺乏处理全球稳健输出调节问题的系统机制。我们建立了一个通用的框架，该框架将系统的非线性系统的鲁棒输出调节问题系统地转换为适当扩充的系统的鲁棒稳定问题。这一通用框架一方面放宽了多项式假设，另一方面为合并最新的稳定技术提供了更大的灵活性，从而为系统地解决具有全局稳定性的稳健输出调节奠定了基础。

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