A Novel Parallel Control Method for Continuous-Time Linear Output Regulation With Disturbances
提出一种线性并行控制方法，通过构造控制的时间变化而非控制值本身来稳定系统输出，相比传统反馈调节器具有更大灵活性，并分析了并行调节器存在的充要条件。
In this article, a novel linear parallel control method is developed for output regulation problems with disturbances. The traditional feedback regulators are passive regulation methods. In order to solve this problem, the parallel controllers are presented, where the time variation of the control is constructed instead of the control value itself, to stabilize the output of the system. The main contributions of the developed method include two aspects: 1) a novel parallel regulator structure is presented, which can provide greater flexibility comparing with traditional methods and 2) the necessary and sufficient conditions for the existence of parallel regulators are analyzed. First, the structure of the linear parallel regulators is provided. Next, considering the situations that the full system information is obtained and the information of error is obtained, respectively, the properties of the parallel regulators are analyzed, and the regulator designs for the two situations are provided. Finally, numerical examples are provided to verify the correctness of the present method.