Francis-Byrnes-Isidori Equations
Author: Tianjiang Shuo
Website: https://cislunarspace.cn
Definition
The core equations in nonlinear output regulation theory, consisting of the matching condition and the invariant manifold condition. The matching condition requires the controlled output to agree with the reference signal; the invariant manifold condition requires the existence of a manifold mapping exosystem states to the plant state space such that the system trajectory evolves along the exosystem on this manifold. Solvability of these equations is a prerequisite for regulation controller design.
Related Concepts
References
- Francis 1977
- Isidori & Byrnes 1990