Semi-global robust output regulation for a class of singular nonlinear systems via nonlinear internal model |
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Authors: | Bomin Huang |
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Affiliation: | Department of Automation, Xiamen University, Xiamen, Fujian, P. R. China |
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Abstract: | Most of existing results on robust output regulation problem of singular nonlinear systems are limited to local solutions. In this paper, the semi-global robust output regulation problem for a class of singular nonlinear systems is investigated by using a nonlinear internal model. Attaching a nonlinear internal model to the singular nonlinear system yields an augmented singular nonlinear system whose semi-global robust stabilisation solution leads to the solution of the semi-global robust output regulation problem of the original singular nonlinear system. The solvability conditions of the semi-global output regulation problem are established by addressing the solvability of the robust stabilisation problem of augmented singular nonlinear system. Finally, a numerical simulation example is used to illustrate the design of the semi-global regulator for the singular nonlinear systems. |
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Keywords: | Nonlinear systems output regulation internal model singular systems robust control |
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