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IEEE ICAL 2007 Conference
Plenary Talk4


Nonlinear Output Regulation: Robust and Adaptive Approach

Jie Huang, Ph.D.

Professor, Department of Mechanical and Automation Engineering
Chinese University of Hong Kong

        Output regulation is one of the most fundamental control problems and it aims to design a feedback controller to achieve asymptotic tracking and disturbance rejection in an uncertain plant . It distinguishes from other problems/approaches in that it can handle a class of reference inputs and disturbances generated by an autonomous system called exosystem. The key technique in handling the output regulation is the Internal Model Principle which was originated in the 1970s when the linear robust output regulation problem was studied. This talk will focus on the output regulation problem of nonlinear systems. The key for tackling the nonlinear output regulation problem relies on a full extension of the concept of the internal model from linear domain to nonlinear domain. Such extension took place in early 1990s and has been in a process of constant evolving. In this talk will first characterize the internal model in such a way that it is a dynamic compensator that together with the original plant constitutes an augmented system with the property that the stabilizability of the augmented system implies the solvability of the output regulation of the original plant. Then we further proceed to the concept of the adaptive internal model which arises from handling the output regulation problem of nonlinear systems subject to uncertain exosystems. Three examples will be used to illustrate the applications of the nonlinear output regulation theory including synchronization of a chaotic system to a harmonic system, disturbance rejection of the benchmark nonlinear system (TORA system), and spacecraft attitude tracking and disturbance rejection. The talk will be closed with some remarks on open issues.


Jie Huang obtained his Ph.D. degree from JohnsHopkinsUniversity in 1990. He was a postdoctoral fellow at JohnsHopkins University from September 1990 to July 1991. From August 1991 to August 1995, he worked in industry in USA. Since 1995, he has been with Department of Mechanical and Automation Engineering , ChineseUniversity of Hong Kong , and is now a professor there. He served as a science advisor to The Leisure and Cultural Services Department of HKSAR, and Honorary Advisor to Hong KongScienceMuseum. His research interests include nonlinear control theory and applications, neural networks, and guidance and flight control .He is the author of the book ``Nonlinear output regulation: Theory and ApplicationsĦħ, SIAM, 2004 and a coauthor of the book (with M. Abu-Khalaf, and F.L. Lewis) ``Nonlinear H2/H-Infinity Constrained Feedback Control:A Practical Design Approach Using Neural NetworksĦħ, Springer, 2006. He received a few awards including (with Zhiyong Chen) the best paper award of the 8th International Conference on Control, Automation, Robotics, and Vision, Dec. 2004, and the Croucher Senior Research Fellow Award, 2006.

Dr. Huang is a Fellow of IEEE, an appointed member of the Board of Governors of IEEE Control Systems Society and an IEEE Control System Society Distinguished Lecturer. He has served in various capacities in editorial boards of several journals including IEEE Transactions on Automatic Control, IEEE Transactions on Neural Networks, Communication in Information and Systems, International Journal of Robust and Nonlinear Control, and Asian Journal of Control.



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