Isolating invisible dynamics in the design of robust hybrid internal models

• Nicholas Cox ^[1] ; Lorenzo Marconi ^[2] ; Andrew R. Teel ^[1]
  1. [1] University of California, Santa Barbara

     University of California, Santa Barbara

     Estados Unidos

     
  2. [2] University of Bologna

     University of Bologna

     Bolonia, Italia

     
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 68, 2016, págs. 56-68
• Idioma: inglés
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• Resumen

  • The paper deals with the problem of output regulation for a class of hybrid linear systems and exosystems whose state jumps periodically according to a known clock. In this framework the main contribution of the paper is to present a general method for the systematic design of robust internal model-based regulators by extending results that are known for continuous-time systems. The internal model design procedure relies upon a notion of visibility of the so-called “hybrid steady-state generator.” The general theory is applied to the case of robust tracking of spline-based reference trajectories by showing how the latter can be thought of as being generated by hybrid linear exosystems.