Robust Output Regulation: Optimization-Based Synthesis and Event-Triggered Implementation

Abstract

We investigate the problem of practical robust output regulation: keeping the state of an uncertain dynamical system uniformly bounded while the system output eventually resides within a prescribed ball centered at a desired target. We consider uncertain systems that are possibly nonlinear and the uncertainty of the linear part is modeled element-wise through a parametric family of matrix boxes. Justifying that a static proportional controller may not be able to accomplish our desired objective, we develop an optimization program characterizing the coefficients of a dynamic output control whose optimal value determines the precision of the output regulation task. We further propose a sampled-time event-triggered redesign of this controller ensuring that the output regulation is still certified and its precision is computationally available. The objective of this study is motivated by an application on behavioral control of a network of selfish agents in a non-cooperative environment.

Robust Output Regulation: Optimization-Based Synthesis and Event-Triggered Implementation

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