A FEW RESULTS ABOUT ADAPTIVE NONLINEAR REGULATION FOR NONMINIMUM-PHASE SYSTEMS
Topic: Output feedback | All
4 mars 2010, Salle L107, à l'Ecole des Mines, Paris.
15h00 : Pr. Lorenzo MARCONI, D.E.I.S. - Université de Bologne, Italie.
In this talk we consider the problem of output regulation for nonlinear, possibly non-minimum phase, systems, in the presence of parameter-uncertain exosystems. We present a framework recently proposed to deal with the presence of unstable zero dynamics in nonlinear output regulation. An interesting aspect of the theory is given by the fact that the internal model-based regulator is designed without using adaptation strategies as classically done in the literature on adaptive output regulation. Limits of performance linking the properties of the zero dynamics of the regulated plant and of the exosystem are shown to be naturally framed in the proposed setting.
15h00 : Pr. Lorenzo MARCONI, D.E.I.S. - Université de Bologne, Italie.
In this talk we consider the problem of output regulation for nonlinear, possibly non-minimum phase, systems, in the presence of parameter-uncertain exosystems. We present a framework recently proposed to deal with the presence of unstable zero dynamics in nonlinear output regulation. An interesting aspect of the theory is given by the fact that the internal model-based regulator is designed without using adaptation strategies as classically done in the literature on adaptive output regulation. Limits of performance linking the properties of the zero dynamics of the regulated plant and of the exosystem are shown to be naturally framed in the proposed setting.