Reduced order internal models in robust output regulation

    Research output: Contribution to journalArticleScientificpeer-review

    13 Citations (Scopus)
    34 Downloads (Pure)


    In this paper we consider robust output regulation and the internal model principle for infinite-dimensional linear systems. We concentrate on a problem where the control law is required to be robust with respect to a restricted class of perturbations. We show that depending on the class of admissible perturbations, it is often possible to construct a robust controller with a smaller internal model than the one given by the internal model principle. In addition, we also look for minimal classes of perturbations that make the full internal model necessary. We introduce a straightforward way of testing for robustness of the control law for a given set of perturbations. The test in particular shows that the robustness is only dependent on the way the perturbations affect the transfer function of the plant at the frequencies of the exosystem. The theoretic results are applied to designing controllers for a one-dimensional wave equation and for a system consisting of three independent shock absorber models.
    Translated title of the contributionReduced order internal models in robust output regulation
    Original languageEnglish
    Pages (from-to)2307-2318
    Number of pages12
    JournalIEEE Transactions on Automatic Control
    Issue number9
    Publication statusPublished - 2013
    Publication typeA1 Journal article-refereed

    Publication forum classification

    • Publication forum level 3


    Dive into the research topics of 'Reduced order internal models in robust output regulation'. Together they form a unique fingerprint.

    Cite this