Robust output regulation of linear system subject to modeled and unmodeled uncertainty

TL;DR

This paper introduces a robust output regulation control framework for linear systems that effectively handles noise, modeled disturbances, and unmodeled disturbances, ensuring accurate tracking and robustness.

Contribution

A novel control framework combining output regulation, $ ext{H}_ ext{}_\infty$ compensation, and Kalman filtering for enhanced robustness against various disturbances.

Findings

Framework successfully tracks references despite disturbances.

Effective reduction of unmodeled disturbance effects.

Validated on Furuta Inverted Pendulum system.

Abstract

In this paper, a novel robust output regulation control framework is proposed for the system subject to noise, modeled disturbance and unmodeled disturbance to seek tracking performance and robustness simultaneously. The output regulation scheme is utilized in the framework to track the reference in the presence of modeled disturbance, and the effect of unmodeled disturbance is reduced by an $\mathcal{H}_\infty$ compensator. The Kalman filter can be also introduced in the stabilization loop to deal with the white noise. Furthermore, the tracking error in the presence/absence of noise and disturbance is estimated. The effectiveness and performance of our proposed control framework is verified in the numerical example by applying in the Furuta Inverted Pendulum system.