Output Regulation of Nonlinear Systems by an Emulation-Based Approach

In this paper, we investigate the semi-global robust output regulation problem of a class of nonlinear networked control systems by an emulation approach. We propose a class of sampled-data control laws to solve this problem. In particular, by the emulation approach, we first develop a class of sampled-data dynamic output feedback control laws. Then, based on the internal model principle, we convert the semi-global robust output regulation problem into a semi-global robust stabilization problem of an augmented hybrid system composed of the internal model and the original system. Next, we show that semi-global robust stabilization of the augmented hybrid system can be achieved by a sampled-data control law and thus leading to the solution of the semi-global robust output regulation problem. Finally, an example is given to illustrate our control approach.