Papers › Data-Driven Control of Continuous-Time LTI Systems via Non-Minimal Realizations
Data-Driven Control of Continuous-Time LTI Systems via Non-Minimal Realizations
Alessandro Bosso, Marco Borghesi, Andrea Iannelli, Giuseppe Notarstefano, Andrew R. Teel
This article proposes an approach to design output-feedback controllers for unknown continuous-time linear time-invariant systems using only input-output data from a single experiment. To address the lack of state and derivative measurements, we introduce non-minimal realizations whose states can be observed by filtering the available data. We first apply this concept to the disturbance-free case, formulating linear matrix inequalities (LMIs) from batches of sampled signals to design a dynamic, filter-based stabilizing controller. The framework is then extended to the problem of asymptotic tracking and disturbance rejection - in short, output regulation - by incorporating an internal model based on prior knowledge of the disturbance/reference frequencies. Finally, we discuss tuning strategies for a class of multi-input multi-output systems and illustrate the method via numerical examples.
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