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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2506.06079 |
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| _version_ | 1866912417349369856 |
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| author | Liu, Yixuan Guo, Meichen |
| author_facet | Liu, Yixuan Guo, Meichen |
| contents | This work proposes a data-driven regulator design that drives the output of a nonlinear system asymptotically to a time-varying reference and rejects time-varying disturbances. The key idea is to design a data-driven feedback controller such that the closed-loop system is incrementally passive with respect to the regulation error and a virtual input. By carefully designing the virtual input, we solve the data-driven nonlinear output regulation problem where the reference and disturbances are generated by a linear exosystem. The designed regulator is composed of an internal model and a passivation feedback controller characterized by a set of data-dependent linear matrix inequalities. The proposed data-driven method is also applied to stabilizing the non-zero equilibrium of a class of nonlinear systems with unknown equilibrium input. Numerical examples are presented to illustrate the effectiveness of the proposed designs. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_06079 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Data-driven nonlinear output regulation via data-enforced incremental passivity Liu, Yixuan Guo, Meichen Systems and Control This work proposes a data-driven regulator design that drives the output of a nonlinear system asymptotically to a time-varying reference and rejects time-varying disturbances. The key idea is to design a data-driven feedback controller such that the closed-loop system is incrementally passive with respect to the regulation error and a virtual input. By carefully designing the virtual input, we solve the data-driven nonlinear output regulation problem where the reference and disturbances are generated by a linear exosystem. The designed regulator is composed of an internal model and a passivation feedback controller characterized by a set of data-dependent linear matrix inequalities. The proposed data-driven method is also applied to stabilizing the non-zero equilibrium of a class of nonlinear systems with unknown equilibrium input. Numerical examples are presented to illustrate the effectiveness of the proposed designs. |
| title | Data-driven nonlinear output regulation via data-enforced incremental passivity |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2506.06079 |