交叉耦合非线性系统的输出调节

THE OUTPUT REGULATION FOR THE CROSS COUPLING NONLINEAR SYSTEMS

利用中心流形定理，给出交叉耦合非线性系统的输出调节问题可解的充要条件，定义了交叉耦合非线性系统的零误差流形．利用幂级数展开的方法，给出该零误差流形存在的充要条件，并讨论了该零误差流形的局部收敛性．

In this paper, the problem of the output regulation for the cross coupling nonlinear system is studied. It is shown that, under the centre manifold theory, the problem is solvable if and only if a certain nonlinear partial differential equation is solvable. A zero-error manifold for the cross coupling nonlinear system is defined,a sufficient and necessary condition about the existence of the zero-error manifold is given, which is based on power series expansions, and then the local convergence of the zero-error manifold is discussed.