Robust Output Regulation
Optimization-Based Synthesis and Event-Triggered Implementation
Mohammad Saeed Sarafraz (Sharif University of Technology)
Anton V. Proskurnikov (Politecnico di Torino, Russian Academy of Sciences)
Mohammad Saleh Tavazoei (Sharif University of Technology)
Peyman Mohajerinesfahani (TU Delft - Mechanical Engineering, TU Delft - Mechanical Engineering)
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Abstract
In this article, we investigate the problem of practical output regulation, i.e., to design a controller that brings the system output in the vicinity of a desired target value while keeping the other variables bounded. We consider uncertain systems that are possibly nonlinear and the uncertainty of their linear parts is modeled element wise through a parametric family of matrix boxes. An optimization-based design procedure is proposed that delivers a continuous-time control and estimates the maximal regulation error. We also analyze an event-triggered emulation of this controller, which can be implemented on a digital platform, along with an explicit estimate of the regulation error.