Utility of the Koopman Operator in Output Regulation of Disturbed Nonlinear Systems

Conference paper (2023)

Authors

Bart Kieboom Student
M. Bartzioka Team Matin Jafarian - Mechanical, Maritime and Materials Engineering
M. Jafarian Team Matin Jafarian - Mechanical, Maritime and Materials Engineering
Research Group
Team Matin Jafarian (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2023 Bart Kieboom, M. Bartzioka, M. Jafarian
DOI
help_outline
https://doi.org/10.1109/cdc49753.2023.10383637
More Info
expand_more

Published Date

2023

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Matin Jafarian

Abstract

This paper studies the problem of output regulation for a class of nonlinear systems experiencing matched input disturbances. It is assumed that the disturbance signal is generated by an external autonomous dynamical system. First, we show that for a class of nonlinear systems admitting a finite-dimensional Koopman representation, the problem is equivalent to a bilinear output regulation. We then prove that a linear dynamic output feedback controller, inspired by the linear output regulation framework, locally solves the original nonlinear problem. Numerical results validate our analysis.