Robust data-driven incremental passivation and output regulation via noisy data

Abstract

Incremental passivity facilitates the development of output regulators via decoupled designs of a passivation controller and an internal model. While this approach is effective for data-driven output regulation with noiseless data, it fails to handle the noisy case, as noisy data leads to a data-based system representation with uncertainties. This work addresses this issue by robustifying the data-driven incremental passivation design. We present a robust characterization of incremental passivity for a class of uncertain nonlinear systems and design a data-driven feedback controller that renders the closed-loop system incrementally passive. The proposed robust data-driven incremental passivation controller is then applied to data-driven output regulation via noisy data. Finally, a numerical example validates the proposed data-driven regulator.