A practical solution to implement nonlinear output regulation via dynamic mappings

Carlos Armenta; Jorge Álvarez; Raymundo Márquez; Miguel Bernal

Kybernetika (2019)

  • Volume: 55, Issue: 2, page 385-401
  • ISSN: 0023-5954

Abstract

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This paper presents a novel error-feedback practical solution for real-time implementation of nonlinear output regulation. Sufficient and necessary conditions for both state- and error-feedback output regulation have been established for linear and nonlinear systems several decades ago. In their most general form, these solutions require solving a set of nonlinear partial differential equations, which may be hard or even impossible to solve analytically. In recent years, a methodology for dynamic calculation of the mappings required for state-feedback regulation has been put forward; following the latter, an error-feedback extension is hereby provided which, when combined with design conditions in the form of linear matrix inequalities, becomes suitable for real-time setups. Real-time results are presented for a nonlinear twin rotor MIMO system. Issues concerning the implementation as well as the solutions adopted, are discussed.

How to cite

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Armenta, Carlos, et al. "A practical solution to implement nonlinear output regulation via dynamic mappings." Kybernetika 55.2 (2019): 385-401. <http://eudml.org/doc/294360>.

@article{Armenta2019,
abstract = {This paper presents a novel error-feedback practical solution for real-time implementation of nonlinear output regulation. Sufficient and necessary conditions for both state- and error-feedback output regulation have been established for linear and nonlinear systems several decades ago. In their most general form, these solutions require solving a set of nonlinear partial differential equations, which may be hard or even impossible to solve analytically. In recent years, a methodology for dynamic calculation of the mappings required for state-feedback regulation has been put forward; following the latter, an error-feedback extension is hereby provided which, when combined with design conditions in the form of linear matrix inequalities, becomes suitable for real-time setups. Real-time results are presented for a nonlinear twin rotor MIMO system. Issues concerning the implementation as well as the solutions adopted, are discussed.},
author = {Armenta, Carlos, Álvarez, Jorge, Márquez, Raymundo, Bernal, Miguel},
journal = {Kybernetika},
keywords = {nonlinear output regulation; linear matrix inequality; twin rotor; real-time},
language = {eng},
number = {2},
pages = {385-401},
publisher = {Institute of Information Theory and Automation AS CR},
title = {A practical solution to implement nonlinear output regulation via dynamic mappings},
url = {http://eudml.org/doc/294360},
volume = {55},
year = {2019},
}

TY - JOUR
AU - Armenta, Carlos
AU - Álvarez, Jorge
AU - Márquez, Raymundo
AU - Bernal, Miguel
TI - A practical solution to implement nonlinear output regulation via dynamic mappings
JO - Kybernetika
PY - 2019
PB - Institute of Information Theory and Automation AS CR
VL - 55
IS - 2
SP - 385
EP - 401
AB - This paper presents a novel error-feedback practical solution for real-time implementation of nonlinear output regulation. Sufficient and necessary conditions for both state- and error-feedback output regulation have been established for linear and nonlinear systems several decades ago. In their most general form, these solutions require solving a set of nonlinear partial differential equations, which may be hard or even impossible to solve analytically. In recent years, a methodology for dynamic calculation of the mappings required for state-feedback regulation has been put forward; following the latter, an error-feedback extension is hereby provided which, when combined with design conditions in the form of linear matrix inequalities, becomes suitable for real-time setups. Real-time results are presented for a nonlinear twin rotor MIMO system. Issues concerning the implementation as well as the solutions adopted, are discussed.
LA - eng
KW - nonlinear output regulation; linear matrix inequality; twin rotor; real-time
UR - http://eudml.org/doc/294360
ER -

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