相关论文: Robust Regulation of MIMO systems: A Reformulation…

The aim of this paper is in developing unifying frequency domain theory for robust regulation of MIMO systems. The main theoretical results achieved are a new formulation of the internal model principle, solvability conditions for the…

Robustness is a basic property of any control system. In the context of linear output regulation, it was proved that embedding an internal model of the exogenous signals is necessary and sufficient to achieve tracking of the desired…

The purpose of this article is to develop a new approach to the robust regulation problem for plants which do not necessarily admit coprime factorizations. The approach is purely algebraic and allows us dealing with a very general class of…

The internal model principle states that all robustly regulating controllers must contain a suitably reduplicated internal model of the signal to be regulated. Using frequency domain methods, we show that the number of the copies may be…

Robust control design is mainly devoted to guarantee closed-loop stability of a model-based control law in presence of parametric and structural uncertainties. The control law is usually a complex feedback law which is derived from a…

In this paper the theory of robust output regulation of distributed parameter systems with infinite-dimensional exosystems is extended for plants with unbounded control and observation. As the main result, we present the internal model…

This paper is concerned with the coordinate-free approach to control systems. The coordinate-free approach is a factorization approach but does not require the coprime factorizations of the plant. We present two criteria for feedback…

We extend the internal model principle for systems with boundary control and boundary observation, and construct a robust controller for this class of systems. However, as a consequence of the internal model principle, any robust controller…

This paper studies a stabilization problem for linear MIMO systems subject to external perturbation that further requires the closed-loop system render a specified gain from the external perturbation to the output. The problem arises from…

This article revisits the importance of the internal model principle in the literature of regulation and synchronization. Trajectory regulation, the task of regulating continuous-time signals generated by differential equations, is…

In this paper we propose a new design paradigm, which employing a postprocessing internal model unit, to approach the problem of output regulation for a class of multivariable minimum-phase nonlinear systems possessing a partial normal…

Feedback optimization has emerged as a promising approach for regulating dynamical systems to optimal steady states that are implicitly defined by underlying optimization problems. Despite their effectiveness, existing methods face two key…

This paper studies a fundamental relation that exists between stabilizability assumptions usually employed in distributed model predictive control implementations, and the corresponding notions of invariance implicit in such controllers.…

This note provides a simple result showing, under suitable technical assumptions, that if a system S adapts to a class of external signals U, then S must necessarily contain a subsystem which is capable of generating all the signals in U.…

Output regulation is the problem of finding a control input to asymptotically track reference trajectories and reject disturbances. This can be addressed by using the internal model principle to embed a model of the disturbance in the…

The regulator theorem states that, under certain conditions, any optimal controller must embody a model of the system it regulates, grounding the idea that controllers embed, explicitly or implicitly, internal models of the controlled. This…

Model predictive control (MPC) is a powerful control method that allows to directly include state and input constraints into the controller design. However, errors in the model, e.g., caused by unknown disturbances, can lead to constraint…

When designing a robot's internal system, one often makes assumptions about the structure of the intended environment of the robot. One may even assign meaning to various internal components of the robot in terms of expected environmental…

One approach to robust control for linear plants with structured uncertainty as well as for linear parameter-varying (LPV) plants (where the controller has on-line access to the varying plant parameters) is through…

This paper studies robustness of MIMO control systems with parametric uncertainties, and establishes a lower dimensional robust stability criterion. For control systems with interval transfer matrices, we identify the minimal testing set…