Output Regulation for Impedance Passive Systems with Input Saturation

Abstract

We consider output tracking and disturbance rejection for abstract infinite-dimensional systems with input saturation. We solve the control problem using a control law which consists of a stabilising error feedback term and a feedforward term based on the reference and disturbance signals. We use our results to design control laws for output tracking and disturbance rejection for a two-dimensional heat equation and a one-dimensional wave equation with boundary control and observation.

26 pages, 3 figures. Minor revision, final author submitted version. Published in SIAM Journal on Control and Optimization