Abstract
SummaryIn this paper we propose a new design paradigm, which employs a postprocessing internal model unit, to approach the problem of output regulation for a class of multivariable minimum‐phase nonlinear systems possessing a partial normal form. Contrary to previous approaches, the proposed regulator handles control inputs of dimension larger than the number of regulated variables, provided that a controllability assumption holds, and can employ additional measurements that need not to vanish at the ideal error‐zeroing steady state, but that can be useful for stabilization purposes or to fulfill the minimum‐phase requirement. Conditions for practical and asymptotic output regulation are given, underlying how in postprocessing schemes the design of internal models is necessarily intertwined with that of the stabilizer.
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