Utility of the Koopman operator in output regulation of disturbed nonlinear systems
Systems and Control
2023-09-18 v3 Systems and Control
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.
Keywords
Cite
@article{arxiv.2210.00040,
title = {Utility of the Koopman operator in output regulation of disturbed nonlinear systems},
author = {Bart Kieboom and Maria Bartzioka and Matin Jafarian},
journal= {arXiv preprint arXiv:2210.00040},
year = {2023}
}