On the Output Regulation for an Underactuated Inverse Pendulum When the Exosystem Is a High-Gain Observer

This paper is devoted to solving the output regulation problem on the basis of the new Francis equations for arbitrary reference/disturbance signals, whose model are obtained by High-Gain observers, providing in this way, the regulation of unmodeled but measurable reference signals. The design is given by fixing a steady state globally attractive by means of LMIs which allows controlling the decay rate by considering input bounds; while the regulation problem is solved by computing the steady-state input based on a modified set of the regulation equations, when the exosystem is constructed upon High-Gain observers, extending in this way, the classical output regulation theory for unmodeled reference/disturbance signal. The Furuta pendulum is used to illustrate the viability of the proposed approach.

Automated summary

This paper focuses on solving the output regulation problem using the new Francis equations for arbitrary reference/disturbance signals. The model is obtained by High-Gain observers, allowing regulation of unmodeled but measurable reference signals. The design involves fixing a globally attractive steady state using LMIs to control the decay rate within input bounds, while the regulation problem is solved by computing the steady-state input based on a modified set of regulation equations. The proposed approach is illustrated using the Furuta pendulum.