Adaptive Nonlinear Regulator Design via Immersion and Invariance

摘要

This paper studies the adaptive output regulation problem for a class of nonlinear systems. Under a mild immersion condition, a novel adaptive internal model is proposed by using immersion and invariance (I&I) adaptive control and incorporating a high-gain observer. This, together with a high-gain feedback, is shown to be able to solve the desired regulation problem in a semiglobal sense.