DOI 10.17586/0021-3454-2021-64-9-782-788
UDC 681.5
NONLINEAR EXOGENEOUS SYSTEM AND INTERNAL MODELS DESIGN
University of Rome „La Sapienza“, Department of Computer, Control and Management Engineering „A. Ruberti“;
A. A. Pyrkin
ITMO University, Saint Petersburg, 197101, Russian Federation; Professor, Dean
I. A. Bzhikhatlov
ITMO University, Faculty of Control Systems and Robotics;
V. S. Gromov
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor
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Abstract. The problem of output regulation of plants affected by nonlinear exogenous systems is addressed. The new approach of designing the controller having an internal model, which repeats the dynamics of the disturbance is presented. Two realizable controllers which using measurements of the output and guarantees the achievement of a control goal are proposed: the one for known parameters and the adaptive one.
Keywords: control systems, nonlinear systems, adaptive systems, internal model
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