Asymptotic Disturbance Rejection for the TORA System via Rotational-Position Feedback

F. Celani (Italy)


Non-Linear Control; Output regulation; TORA; Certaintyequivalence.


This work reports on the design of a feedback controller that achieves asymptotic disturbance rejection for the non linear benchmark system known as TORA. The controller uses only measurements of the of the rotational position and is semiglobal with respect to the TORA states; as a result, the proposed regulator represents an improvement with respect to a recently presented compensator that guarantees only local convergence.

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