For non-minimum phase plants, a partial LTR design of optimal output disturbance cancellation controllers is discussed. A target recoverable by the partial LTR procedure is identified as an output injection with a frequency-shaped gain matrix. The partial LTR result is used to clarify system-theoretic meaning of enforcing the minimum phase LTR procedure. It is shown that the partial LTR procedu...

In this work we consider the problem of output regulation for linear single input-single output systems in presence of time-varying measurement constraint. It is shown how an internal model-based regulator, processing a saturated uncertain function of the regulated error, can be designed in order to secure asymptotic tracking/rejection of exosystemgenerated references/disturbances. The design i...

In this paper a data-driven methodology based on the Virtual Reference Feedback Tuning is presented for the tuning of Internal Model Controllers. A data based test is presented to check the robust stability of the controller in the loop, taking advantage of the control structure. Two different examples are shown where the presented method successfully controls a non-minimum phase discrete time ...

A novel technique to achieve output tracking via stable inversion of non-minimum phase linear systems is presented wherein the desired signal is obtained from field measurements, and hence corrupted by noise. The earlier approach to stable inversion does not take into account the noise in the system. The unknown input decoupled observer approach is applicable only to minimum phase systems. More...

We propose a solution to the problem of semiglobal output regulation for nonlinear minimum-phase systems driven by uncertain exosystems that does not rely upon conventional adaptation schemes to estimate the frequency of the exogenous signals. Rather, the proposed approach relies upon regressionlike arguments used to derive a nonlinear internal model able to offset the presence of an unknown nu...

Abstract: In this paper a general ILC algorithm is examined and it is found that the filters involved can be selected to satisfy frequency-wise uncertainty limits on the plant model. The probability of the plant model being at a given point in the uncertainty space is specified, and the filters are then chosen to maximise the convergence rate that can be expected in practice. The magnitude of t...

In this paper, some results of feedback stabilization on compacta for a nonlinear control system are obtained by using an invariant manifold approach. In particular, a class of globally nonminimum phase systems are treated. Issues such as high gain feedback stabilization on compacta vs. peaking phenomenon, and globally exponentially minimum phase vs. globally asymptotically (critically) minimum...

A novel technique to achieve output tracking via stable inversion of non-minimum phase linear systems is presented wherein the desired signal is obtained from field measurements, and hence corrupted by noise. The earlier approach to stable inversion does not take into account the noise in the system. The unknown input decoupled observer approach is applicable only to minimum phase systems. More...

Consider a dynamical system u 7→ x, ẋ = fnl(x, u) where fnl is a nonlinear (convex or nonconvex) function, or a combination of nonlinear functions that can eventually switch. We present, in this preliminary work, a generalization of the standard model-free control, that can either control the dynamical system, given an output reference trajectory, or optimize the dynamical system as a derivativ...

In this paper, a new analytical method to find a near-optimal high gain controller for the non-minimum phase affine nonlinear systems is introduced. This controller is derived based on the closed form solution of the Hamilton-Jacobi-Bellman (HJB) equation associated with the cheap control problem. This methodology employs an algebraic equation with parametric coefficients for the systems with s...