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Matched Input Disturbance Rejection for Nonlinear Systems in the Koopman Framework

Conference Paper (2022)
Author(s)

B. Kieboom (Student TU Delft)

M. Jafarian (TU Delft - Mechanical Engineering)

Research Group
Team Matin Jafarian
DOI related publication
https://doi.org/10.34385/proc.71.A6L-B-04 Final published version
More Info
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Publication Year
2022
Language
English
Research Group
Team Matin Jafarian
Pages (from-to)
202-203
Publisher
IEICE
Event
NOLTA 2022: International Symposium on Nonlinear Theory and Its Applications (virtual) (2022-12-12 - 2022-12-15)
Page Views
35
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Abstract

We study the problem of output regulation for a class of nonlinear systems subject to matched input disturbances, with the disturbance signal generated by an autonomous dynamical system. Using the Koopman operator, the problem is reformulated as bilinear output regulation. We show that a controller, inspired by the linear output regulation problem, is effective in disturbance rejection and achieving local asymptotic stability.