Robust Dynamic Controllers for Output Regulation: Optimization-Based Synthesis and Event-Triggered Implementation.
Mohammad Saeed Sarafraz, Anton V. Proskurnikov, Mohammad Saleh Tavazoei, Peyman Mohajerin Esfahani · arXiv (Cornell University) · 2020
We investigate the problem of practical robust output regulation: keeping the state of an uncertain dynamical system uniformly bounded while the system output eventually resides within a prescribed ball centered at a desired target. We consider uncertain systems that are possibly nonlinear and the uncertainty of the linear part is modeled element-wise through a parametric family of matrix boxes. Justifying that a static proportional controller may not be able to accomplish our desired objective, we develop an optimization program characterizing the coefficients of a dynamic output control whose optimal value determines the precision of the output regulation task. We further propose a {sampled-time event-triggered redesign of this controller ensuring that} the output regulation is still certified and its precision is computationally available. The objective of this study is motivated by an application on behavioral control of a network of selfish agents in a non-cooperative environment.