TY - JOUR
T1 - On the Output Regulation for an Underactuated Inverse Pendulum When the Exosystem Is a High-Gain Observer
AU - Hernandez-Cortes, Tonatiuh
AU - Amador-Macias, Miguel
AU - Tapia-Herrera, Ricardo
AU - Meda-Campana, Jesus Alberto
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper is devoted to solving the output regulation problem on the basis of the new Francis equations for arbitrary reference/disturbance signals, whose model are obtained by High-Gain observers, providing in this way, the regulation of unmodeled but measurable reference signals. The design is given by fixing a steady state globally attractive by means of LMIs which allows controlling the decay rate by considering input bounds; while the regulation problem is solved by computing the steady-state input based on a modified set of the regulation equations, when the exosystem is constructed upon High-Gain observers, extending in this way, the classical output regulation theory for unmodeled reference/disturbance signal. The Furuta pendulum is used to illustrate the viability of the proposed approach.
AB - This paper is devoted to solving the output regulation problem on the basis of the new Francis equations for arbitrary reference/disturbance signals, whose model are obtained by High-Gain observers, providing in this way, the regulation of unmodeled but measurable reference signals. The design is given by fixing a steady state globally attractive by means of LMIs which allows controlling the decay rate by considering input bounds; while the regulation problem is solved by computing the steady-state input based on a modified set of the regulation equations, when the exosystem is constructed upon High-Gain observers, extending in this way, the classical output regulation theory for unmodeled reference/disturbance signal. The Furuta pendulum is used to illustrate the viability of the proposed approach.
KW - Output regulation
KW - high-gain observer
KW - linear matrix inequality
UR - http://www.scopus.com/inward/record.url?scp=85148445016&partnerID=8YFLogxK
U2 - 10.1109/ACCESS.2023.3240656
DO - 10.1109/ACCESS.2023.3240656
M3 - Artículo
AN - SCOPUS:85148445016
SN - 2169-3536
VL - 11
SP - 10792
EP - 10800
JO - IEEE Access
JF - IEEE Access
ER -