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- W2749269779 abstract "Structural aspects are studied of nonlinear control systems in a setting of differentiable manifolds. As a generalization of the setup commonly used in linear multivariable control, the regulator problem is defined as that of controlling a fixed plant to track (or reject) reference (or disturbance) signals generated by a fixed dynamic model called the exosystem. It is shown that, if the controller is error-driven, if perfect tracking is achieved in the limit t??, and if a suitable observability condition is present, then the controller necessarily incorporates a copy (internal model) of the exosystem dynamics. This result represents a counterpart in the nonlinear differentiable setting to various results already known for linear systems and for abstract automata." @default.
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- W2749269779 date "1982-12-01" @default.
- W2749269779 modified "2023-09-27" @default.
- W2749269779 title "Error feedback and internal models on differentiable manifolds" @default.
- W2749269779 cites W2102476746 @default.
- W2749269779 doi "https://doi.org/10.1109/cdc.1982.268234" @default.
- W2749269779 hasPublicationYear "1982" @default.
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