Related papers: Output regulation via input-output data
We study a multi-agent output regulation problem, where not all agents have access to the exosystem's dynamics. We propose a distributed controller that solves the problem for linear, heterogeneous, and uncertain agent dynamics as well as…
This paper formulates adaptive controller design as a minimax dual control problem. The objective is to design a controller that minimizes the worst-case performance over a set of uncertain systems. The uncertainty is described by a set of…
We present three dynamic error feedback controllers for robust output regulation of regular linear systems. These controllers are (i) a minimal order robust controller for exponentially stable systems (ii) an observer-based robust…
This paper deals with the output feedback stabilization problem of nonlinear multi-input multi-output systems having an uncertain input gain matrix. It is assumed that the system has a well-defined vector relative degree and that the zero…
The output regulation problem for unknown linear systems has been studied using state-based and output-based internal model approaches in the special case with no disturbances. This paper further investigates the output regulation problem…
We examine robust output feedback control of discrete-time nonlinear systems with bounded uncertainties affecting the dynamics and measurements. Specifically, we demonstrate how to construct semi-infinite programs that produce gains to…
We present an approach to compute stabilizing controllers for continuous-time linear time-invariant systems directly from an input-output trajectory affected by process and measurement noise. The proposed output-feedback design combines (i)…
We address a particular problem of output regulation for multi-input multi-output nonlinear systems. Specifically, we are interested in making the stability of an equilibrium point and the regulation to zero of an output, robust to (small)…
This paper studies adaptive algorithms for simultaneous regulation (i.e., control) and estimation (i.e., learning) of Multiple Input Multiple Output (MIMO) linear dynamical systems. It proposes practical, easy to implement control policies…
This paper addresses the problem of robust control of a linear discrete-time system subject to bounded disturbances and to measurement and control budget constraints. Using Q-parameterization and a polytope containment method, we prove that…
As we transition towards the deployment of data-driven controllers for black-box cyberphysical systems, complying with hard safety constraints becomes a primary concern. Two key aspects should be addressed when input-output data are…
In this work, we derive dynamic output-feedback controllers that render the closed-loop system externally positive. We begin by expressing the class of discrete-time, linear, time-invariant systems and the class of dynamic controllers in…
This paper constructs a framework to describe and study the coordinated output regulation problem for multiple heterogeneous linear systems. Each agent is modeled as a general linear multiple-input multiple-output system with an autonomous…
We investigate the problem of practical output regulation, i.e., to design a controller that brings the system output in the vicinity of a desired target value while keeping the other variables bounded. We consider uncertain systems that…
Target output controllers aim at regulating a system's target outputs by placing poles of a suitable subsystem using partial state feedback, where full state controllability is not required. This paper establishes existence conditions for…
We study a multi-agent output regulation problem, where not all agents have access to the exosystem's dynamics. We propose a fully distributed controller that solves the problem for linear, heterogeneous, and uncertain agent dynamics as…
This paper presents a robust data-driven controller design based on the noisy input-output data without assumptions on the statistical properties of the noises. We start with the direct data-representation of system models that take…
We construct two error feedback controllers for robust output tracking and disturbance rejection of a regular linear system with nonsmooth reference and disturbance signals. We show that for sufficiently smooth signals the output converges…
We consider the problem of discounted optimal state-feedback regulation for general unknown deterministic discrete-time systems. It is well known that open-loop instability of systems, non-quadratic cost functions and complex nonlinear…
This paper addresses the design of robust dynamic output feedback control for highly uncertain systems in which the unknown disturbance might be excited by the derivative of the control input. This context appears in many industrial…