Adaptive Observers as Nonlinear Internal Models

Priscoli, Francesco Delli; Marconi, Lorenzo; Isidori, Alberto

Adaptive Observers as Nonlinear Internal Models

Authors

Priscoli, Francesco Delli

Marconi, Lorenzo

Isidori, Alberto

Description

This paper shows how the theory of nonlinear adaptive observers can be effectively used in the design of internal models for nonlinear output regulation. The theory substantially enhances the existing results in the context of {\em adaptive} output regulation, by allowing for not necessarily stable zero dynamics of the controlled plant and by weakening the standard assumption of having the steady state control input generated by a linear system.
20 pages