Einladung zum Vortrag im Kolloquium
A coordinate-free approach to nonlinear output regulation
Prof. Dr. Alberto Isidori
Università di Roma "La Sapienza"
Rome · Italy
04. Mai 2010 · 16:00 Uhr
Ort: IST-Seminarraum 3.243 · Pfaffenwaldring 9 · Campus
Essentially all existing methods for the design of controllers that
solve the problem of output regulation for nonlinear systems repose on
a preliminary transformation of the equations describing the system
into a suitable ``normal form". The main motivation for this is that
the asymptotic properties of a system in normal form, controlled by
output feedback, can be easily analyzed by means of the so-called
``small gain theorem". However, this design paradigm does not comprise
systems which do not admit normal forms, which for multi-input system
is generically the case. In this lecture, we revisit the problem of
stabilization using output feedback from a coordinate-free viewpoint,
and we show that the property of being ``strongly minimum phase"
suffices to obtain a coordinate free version of the standard
output-feedback design paradigm. The resulting approach can be
implemented also when the controlled plant is augmented with the
dynamics of a internal model, thus leading to a coordinate-free
approach to the design of controllers for output regulation.
Alberto Isidori, obtained his degree in EE from the University of Rome
in 1965. Since 1975, he is Professor of Automatic Control at this
His research interests are primarily in analysis and design of
nonlinear control systems. He is the author of the highly-cited book Nonlinear Control Systems. He is
the recipient of the ``Georgio Quazza Medal" (in 1996) from the IFAC,
of the ``Ktesibios Award", from the Mediterranean Control Association
(in 2000) and of the ``Bode Lecture Award", from the CSS of IEEE (in
2001). In 2009, he received the ``Galileo Galiei Award", from the
Italian Rotary Clubs, in recognition of his contributions to the
progress of Engineering sciences in Italy. In 2009 he received the
Doctor of Science Honorary Degree from the KTH of Sweden. He received
best paper awards on the IEEE
Transactions on Automatic Control and Automatica, twice on both journals.
In 1986 he was elected Fellow of IEEE and in 2005 he was elected Fellow
of IFAC. He is currently President the
International Federation of Automatic Control.