Regulation of MIMO LTI Systems With Unmodeled Input Dynamics With Application to Positioning of Surface Vessels

• 成果类型: Article
• 署名作者: Borisov, Oleg; Isidori, Alberto; Pyrkin, Anton; Zhivitskii, Andrei
• 署名单位: ITMO University; Sapienza University Rome; Hangzhou Dianzi University
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2026.3673036
• 发表日期: 2026
• 关键词: ADAPTIVE OUTPUT REGULATION

摘要

This article addresses the problem of adaptive output regulation of multiple-input multiple-output (MIMO) linear time-invariant (LTI) systems with unmodeled input dynamics. It is shown how a postprocessing tunable internal model and a high-gain observer can be effectively used to solve the output regulation problem under uncertainties. The performance of the design framework is shown by application to positioning of surface vessels.