Short
Course on Output Regulation
CeSOS - NTNU Trondheim, Norway
Prof. Andrea Serrani
Department of Electrical and Computer Engineering
The
Dates:
Goal: To
provide a general, up-to-date coverage of
fundamental issues and recent research developments in output
regulation of
nonlinear systems.
Synopsis: The problem
of controlling the output of a system so as to achieve asymptotic
tracking of
prescribed trajectories and/or asymptotic rejection of disturbances is
one of
the most fundamental problems in control theory. In its typical
formulation,
the class of signals to be tracked and of disturbances to be rejected
is
restricted to be the trajectories generated by a given autonomous
stable LTI
system, referred to as the exosystem. These include constant and
sinusoidal
signals of known frequency, but unknown amplitude and phase. A peculiar
feature
of the servomechanism problem, which makes it a difficult problem to
solve, is
the requirement that the controller has access to the regulation error
only,
without direct measurements either of the state of the plant, or the
exogenous
signals. In linear system theory, a powerful approach to the solution
of this
problem is the design of a controller incorporating an internal model
of all
exogenous inputs.
The extension of this approach to nonlinear systems has been thoroughly
investigated in the past ten years. The purpose of this short course is
to review
the major achievements in this area and to present the directions on
which the
research is presently progressing. In particular, the course provide a
self-contained treatment of the theory of nonlinear output regulation,
ranging
from its geometric foundations to the latest results on robust
regulation in
the large, and regulation in presence of uncertainties on the exogenous
systems. Latest techniques and tools from nonlinear stabilization,
adaptive
control, passivity theory are employed throughout the presentation.
Application
of nonlinear regulation theory to robust autonomous guidance of
aerospace
systems are presented and discussed in detail.
Slides
(pdf)