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This paper revisits the servomechanism design problem for uncertain time-varying nonlinear systems which are transformable into an output-feedback normal form. In contrast to some recent results, this class of nonlinear systems takes a more general form. Thus the existing design method is not applicable. After a refined procedure of a time-varying internal model design, the problem is first converted...
In this contribution a novel extension to model predictive control for a certain class of input affine nonlinear systems is proposed, which satisfy the property of differential flatness and are of minimum phase. By feedforward linearization of the nonlinear system via a flatness based control law, the problem of nonlinear model predictive control is reduced to the well known linear model predictive...
Recursively designed internal models have been extensively applied in the output regulation problem for lower-triangular systems. In particular, one internal model component is constructed at each step to compensate for the steady state of one plant state (or input). This design method is simple with the potential expense of high dimension when some components are duplicate. This paper proposes a...
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