Integral Action in Output Feedback for multi-input multi-output nonlinear systems

TL;DR

This paper presents a new integral action output feedback method for MIMO nonlinear systems that enhances robustness to model uncertainties and offsets, demonstrated through a practical example.

Contribution

It introduces a novel integral output feedback approach for MIMO nonlinear systems that improves robustness to unmodelled discrepancies and offsets.

Findings

Enhanced stability and regulation robustness demonstrated

Applicable to real-world systems with model uncertainties

Effective in reducing output offsets

Abstract

We address a particular problem of output regulation for multi-input multi-output nonlinear systems. Specifically, we are interested in making the stability of an equilibrium point and the regulation to zero of an output, robust to (small) unmodelled discrepancies between design model and actual system in particular those introducing an offset. We propose a novel procedure which is intended to be relevant to real life systems, as illustrated by a (non academic) example.