This tutorial is open to everyone.
Speaker
Hongkeun Kim (Assistant Professor, Korea University of Technology and Education)
Time & Location
Mar. 16 (Fri) 13:30 PM / Building 133 Room 316-1
Abstract
In this tutorial, the problem of linear output regulation is addressed, whose aim is to reject the external disturbances and/or to track the references. A standing assumption to this problem is that the disturbances and references under consideration are generated by a so-called exosystem which is anti-stable. Under this setting, we first study the steady-state behavior of stable dynamical systems affected by such disturbances or references. Then, we discuss how to nullify such effects of disturbances and what should be done by the dynamic controller. This leads to the internal model principle which has to be necessarily satisfied for the output regulation problem to be solved. It means that the model of the exosystem is contained in the dynamic controller. With this, we discuss the physical meaning of the internal model principle. Finally, an extension to nonlinear output regulation is also discussed with the systems having relative degree one and being of minimum phase, as a toy example. An application to synchronization problem of linear heterogeneous agents will be briefly addressed as well.
Biography
- B.S. in Electro-Electrical & Computer Engineering, Hanyang University
- M.S. & Ph.D. integrated degree in Electrical Engineering & Computer Science, Seoul National University
- Research associate in Automation & Systems Research Institute Univ. Seoul National University
- Postdoctoral researcher in Faculty of Mathematics & Natural Sciences, University of Groningen, Netherland
- Assistant Professor in School of Mechatronics Engineering, Korea University of Techonology & Education
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