On the Output Regulation for an Underactuated Inverse Pendulum When the Exosystem Is a High-Gain Observer

This paper is devoted to solving the output regulation problem on basis of new Francis equations for arbitrary reference/disturbance signals, whose model are obtained by High-Gain observers, providing in this way, unmodeled but measurable reference signals. The design given fixing a steady state globally attractive means LMIs which allows controlling decay rate considering input bounds; while solved computing steady-state based modified set equations, when exosystem constructed upon extending classical theory signal. Furuta pendulum used illustrate viability proposed approach.