Daniele Astolfi

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We address the problem of designing a stabilizing output feedback, via the separation principle. Our aim is to propose a more usable technique. The system can be written in any coordinates and is supposed to be locally uniformly observable. Starting form a known state feedback we do one step of backtepping to have access to the input derivative. This is(More)
The paper deals with the problem of output regulation for the class of multiinput multi-output square nonlinear systems satisfying a minimum-phase assumption and a “positivity” condition on the high-frequency gain matrix. By following a design paradigm proposed in [12] for single-input single-output nonlinear systems, it is shown how an internal model-based(More)
We address a particular problem of output regulation for multi-input multi-output nonlinear systems. Specifically, we are interested in making the stability of an equilibrium point and the regulation to zero of an output, robust to (small) unmodelled discrepancies between design model and actual system in particular those introducing an offset. We propose a(More)
For nonlinear systems affine in the input with state x ∈ R, input u ∈ R and output y ∈ R, it is a well-known fact that, if the function mapping (x, u, . . . , u(n−1)) into (u, . . . , u(n−1), y, . . . , y(n−1)) is an injective immersion, then the system can be locally transformed into an observability normal form with a triangular structure appropriate for(More)
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