Piecewise smooth solutions to the nonlinear output regulation PDE
Aguilar, Cesar O.
Krener, Arthur J.
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The solution to the nonlinear output problem requires one to solve a first order PDE, known as the Francis-Byrne-Isidori (FBI) equations. In this paper we propose a method to compute approximate solutions to the FBI equations when the zero dynamics of the plant are hyperbolic and the exosystem is two-dimensional. Our method relies on the periodic nature of two-dimensional analytic center manifolds.