A taxonomy for time-varying immersions in periodic internal-model control

Abstract

In extending the solvability of the output regulation problem to encompass more general classes of time-varying exogenous systems, various non-equivalent definitions of observability play a crucial role in the definition and properties of immersion mappings establishing the so-called internal model property. This paper proposes a classification of the immersion mappings based on the underlying observability property, and describes the connections between different canonical realizations of internal models that fully exploit such properties for robust and adaptive output regulation design in periodic systems. © 2008 Springer-Verlag.