Output Regulation via Low-Power Construction

Abstract

The paper deals with the problem of output regulation for the class of nonlinear systems that have a well-defined relative degree and are minimum-phase. The goal is to present a design methodology of the internal model-based regulator that adopts the tools recently proposed in Astolfi and Marconi (IEEE Trans Autom Control 60:3059–3064, 2015) [1] for the design of nonlinear high-gain observers in which the power of the high-gain parameter is raised just up to the order 2 regardless the dimension of the observed system. In this context, we show how to design a high-gain internal model in which the power of the high-gain is raised up to the order two regardless the dimension of the internal model. The same methodology is also used in the dynamic stabilizer in the presence of regulated plants with high relative degree by presenting backstepping and dirty-derivatives observer techniques with limited high-gain power.