In this note we deal with a new observer for nonlinear systems of dimension n in canonical observability form. We follow the standard high-gain paradigm, but instead having an gain that grows up to power n, design 2n-2 only 2.

ABSTRACT This paper investigates the robust semi‐global output regulation of uncertain linear systems with input saturation. In this setup, one cannot apply off‐the‐shelf techniques to reject structural uncertainties due numerical issues caused by two time scales but also technical generated To solve problem, we combine internal model principle low gain technique and singular perturbation theory. Explicitly, regulator design is based on computation solutions a Sylvester equation, which can...

We address a particular problem of output regulation for multi-input multi-output nonlinear systems. Specifically, we are interested in making the stability an equilibrium point and to zero robust (small) unmodelled discrepancies between design model actual system those introducing offset. propose novel procedure which is intended be relevant realistic scenarios, as illustrated by (non academic) example.

We consider the problem of exponential synchronization a network identical input-affine nonlinear time-varying systems connected through an undirected graph, in presence leader. tackle with incremental stability tools. propose sufficient metric-based conditions to design distributed diffusive coupling feedback law two frameworks. First, we state design, where is obtained for every initial condition. Then, show that can still be achieved regionally under milder assumptions. To balance...

Robustness is a basic property of any control system. In the context linear output regulation, it was proved that embedding an internal model exogenous signals necessary and sufficient to achieve tracking desired reference in spite external disturbances parametric uncertainties. This result commonly known as principle. A complete extension such general nonlinear systems still open problem, exacerbated by large number alternative definitions uncertainty goals are possible setting. this...

Repetitive control (RC) has shown to achieve superior rejection of periodic disturbances. Many nonlinear systems are subject repeating The aim this article is develop a continuous-time RC design with stability guarantees for Lur'e-type systems. Approximate output tracking achieved by combining an internal model, consisting finite number linear oscillators frequencies at the reference frequency and its multiples, stabilizer that convergence property closed-loop system. developed approach...

This paper deals with the characterisation of sensitivity to high-frequency measurement noise nonlinear high-gain observers. The proposed tool provides bounds for steady-state estimate in presence when parameter characterising speed convergence observer is fixed. analysis captures effect frequency showing "low-pass" filtering properties observer.

In this article, we study the problem of constant output regulation for a class input-affine multi-input multi-output nonlinear systems, which do not necessarily admit normal form. We allow references and disturbances to be arbitrarily large initial conditions system range in full-state space. cast contraction framework, rely on common approach extending with an integral action processing error. then present sufficient design state-feedback control law able make resulting closed-loop...

In this work, we address the problem of designing a control law for system in feedforward form to be globally incrementally exponentially stable. To do that, develop an incremental version so-called forwarding mod <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$\lbrace L_{g}V\rbrace$</tex-math></inline-formula> approach. Then, apply such design compensating matched disturbances assumed given by...

In this note the low-power observer structure presented in [1] is modified to avoid peaking of state while preserving its good sensitivity properties measurement noise and implementation advantages terms power-gain with respect standard high-gain observers.

Given a plant whose trajectories of interest remain in known compact set and an associated observer, we propose general framework to modify this observer so that its state remains given convex for all times, without altering the guaranteed performances terms convergence robustness external disturbances. The methodology can be applied any time-varying continuous-time, discrete-time, hybrid system/observer, which quadratic Lyapunov function is used analysis. proposed approach relevant,...