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- Daniele Astolfi, Lorenzo Marconi
- IEEE Trans. Automat. Contr.
- 2015

In this note we deal with a new observer for nonlinear systems of dimension n in canonical observability form. We follow the standard high-gain paradigm, but instead of having an observer of dimension n with a gain that grows up to power n, we design an observer of dimension 2n − 2 with a gain that grows up only to power 2.

- Daniele Astolfi, Laurent Praly
- CDC
- 2013

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)

- Daniele Astolfi, Alberto Isidori, Lorenzo Marconi, Laurent Praly
- NOLCOS
- 2013

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)

- Lei Wang, Daniele Astolfi, Lorenzo Marconi, Hongye Su
- Automatica
- 2017

- Daniele Astolfi, Lorenzo Marconi, Andrew R. Teel
- ECC
- 2016

- Daniele Astolfi
- 2016

- Daniele Astolfi, Laurent Praly, Lorenzo Marconi
- CDC
- 2015

- Daniele Astolfi, Laurent Praly
- IEEE Trans. Automat. Contr.
- 2017

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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