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		Bo MENG,Yuanwei JING,Xiaoping LIU.[en_title][J].Control Theory and Technology,2009,7(2):181~.[Copy]

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BoMENG,YuanweiJING,XiaopingLIU
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Received:June 11, 2007Revised:May 21, 2008

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Output regulation of nonaffine nonlinear systems using singular perturbation theory

Bo MENG, Yuanwei JING, Xiaoping LIU

(College of Information Science and Engineering, Northeastern University, Shenyang Liaoning 110004, China)

Abstract:

A control synthesis method for output regulation based on singular perturbation theory combined with inverting design is considered for a class of nonaffine nonlinear systems. The resulting control signal is defined as a solution to “fast” dynamics which inverts a series error model, whose state is exponentially stable. It is shown that, under sufficient conditions being consistent with the assumptions of singular perturbation theory, this problem is solvable with (") tracking error if and only if a set of first-order nonlinear partial differential equations are solvable. The control law can be easily constructed and the simulations show the feasibility and effectiveness of the controller.

Key words: Output regulation Singular perturbation Nonaffine nonlinear system Dynamic inversion