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A multi-function approach to passivity-based control: The linear case.

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The problem of robust output regulation for a class of passive linear systems is considered. From a ‘control by interconnection of systems’ perspective, the controller is defined by means of a multivalued function. The resulting closed-loop system is shown to have a variable structure with interesting properties: output feedback (perfect knowledge of the plant state is not required) and perfect regulation despite parametric uncertainty and unmatched disturbances. The methodology is illustrated through a physical and an abstract example.

This talk is part of the CUED Control Group Seminars series.

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