The problem of the robust continuous-time asymptotic tracking and disturbance rejection for a multivariable sampled-data system is studied, for the case when the available description of the continuous-time plant has a known dependence on some “physical” parameters and possibly only some of the scalar outputs must track corresponding reference signals. The necessary and sufficient conditions for the existence of a hybrid control system for which exponential stability with a prescribed rate of convergence and a continuous-time convergence to zero of the tracking error are guaranteed at least in a neighbourhood of the nominal parameters, and, possibly, the convergence is dead-beat at the nominal ones, are reported, together with the necessity of a wholly continuous-time internal model of the exogenous signals.
Robust ripple-free output regulation and tracking under structured and unstructured parameter uncertainties
VALIGI, Paolo
1999
Abstract
The problem of the robust continuous-time asymptotic tracking and disturbance rejection for a multivariable sampled-data system is studied, for the case when the available description of the continuous-time plant has a known dependence on some “physical” parameters and possibly only some of the scalar outputs must track corresponding reference signals. The necessary and sufficient conditions for the existence of a hybrid control system for which exponential stability with a prescribed rate of convergence and a continuous-time convergence to zero of the tracking error are guaranteed at least in a neighbourhood of the nominal parameters, and, possibly, the convergence is dead-beat at the nominal ones, are reported, together with the necessity of a wholly continuous-time internal model of the exogenous signals.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
