Review and Recent Development of Internal Model Design
题目：Review and Recent Development of Internal Model Design
Robust output regulation is a controller design theory for achieving reference tracking and disturbance rejection as well as system stability. The main feature of the theory is that the reference and/or disturbance signals have explicit structural description, especially by an exosystem. By decoding this structural information, the desired steady state/input of the system can be completely characterized, albeit not measurable or implementable due to system uncertainty. The steady state/input description simply copies the exosystem dynamics for simple systems, however, it relies on more complicated steady-state generators in most nonlinear scenarios. Once the steady state/input is characterized, it can be estimated by an internal model. Proper construction of internal model can well compensate for the desired steady state/input resulting in a stabilisation problem about an equilibrium point. The control objective is achieved if such a stabilization problem is solved. This talk does not ambitiously aim at a complete overview picture of the three decade development of output regulation theory. It attempts to show a small trail in the garden of vast collections of output regulation results that may lead the audience from simple to advanced internal model design techniques.
In this talk, we will also revisit some successful case studies of using advanced nonlinear internal model techniques on practical experimental platforms.