Summary
The purpose of this work is to complement some recent advances in the field of robust stabilization of nonlinear systems contained in [11]. By exploiting a general tool design presented in that paper and briefly summarized here, we address the problem of output regulation for nonlinear systems whose zero dynamics posses compact attractors which are asymptotically but not necessarily exponentially stable. The crucial requirement of designing a locally Lipschitz regulator makes the problem at hand particularly challenging, and conventional tools based on pure high-gain feedback cannot be used. A few academic examples are also presented which illustrate the proposed method.
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Isidori, A., Marconi, L. (2009). Nonlinear Locally Lipschitz Output Regulation in Presence of Non-hyperbolic Zero-Dynamics. In: Ghosh, B.K., Martin, C.F., Zhou, Y. (eds) Emergent Problems in Nonlinear Systems and Control. Lecture Notes in Control and Information Sciences, vol 393. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03627-9_11
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DOI: https://doi.org/10.1007/978-3-642-03627-9_11
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