1,721,298 research outputs found
A Unifying Approach to the Design of Nonlinear Output Regulators
No full textThe goal of this paper is to propose a unique vision able to frame a
number of results recently proposed in literature to tackle problems of output regulation for nonlinear systems. This is achieved by introducing the so-called {em asymptotic internal model property} as the crucial property which, if fulfilled, leads to the design of the regulator for a fairly general class of nonlinear systems satisfying a proper minimum-phase condition. It is shown that recent frameworks based upon the use of nonlinear high-gain and adaptive observer techniques for the regulator design can be cast in this setting. A recently proposed technique for output regulation without immersion is also framed in these terms
Adaptive linear regulation for systems with multiple zeros at the origin
No full textWe consider the problem of asymptotic rejection of exogenous harmonic inputs having unknown amplitudes,
phases, and frequencies on the output for a class of uncertain and nonminimum-phase linear systems. Special
emphasis is given to the case in which the controlled system has multiple zeros at the origin. It is shown how
the method recently proposed to design internal models by means of regression arguments, combined with
control strategies based on the redesign of the zero dynamics of the system through redefinition of the output,
can be successfully used to solve the problem in presence of plant parameter uncertainties
About the Existence of Locally Lipschitz Output Feedback Stabilizers for Nonlinear Systems
No full textInternational audienceIn this paper we complement some results of [L. Marconi, L. Praly, and A. Isidori, SIAM J. Control Optim., 45 (2007), pp. 2277–2298] by presenting a sufficient condition under which the output feedback controller proposed in that paper can be designed to be locally Lipschitz. The condition in question consists in a regularity property of the observable part of an autonomous system with output that generates the control input in a steady state. The work has been deliberately written to be an addendum to [L. Marconi, L. Praly, and A. Isidori, SIAM J. Control Optim., 45 (2007), pp. 2277–2298], to which the reader is referred for notation and main results
Aspetti immunologici della sindrome criptorchide: immunità antispermatozoo e criptorchidismo
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