Daniele Astolfi

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For nonlinear systems affine in the input with state x ∈ R n , input u ∈ R and output y ∈ R, it is a well-known fact that, if the function mapping (n−1)) is an injective immersion, then the system can be locally transformed into an observability normal form with a triangular structure appropriate for a high-gain observer. In this technical note we extend(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) un-modelled discrepancies between design model and actual system in particular those introducing an offset. We propose(More)
The paper deals with the problem of output regulation for the class of multi-input 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(More)
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