Robust Output Regulation: Optimization-Based Synthesis and Event-Triggered Implementation

Mohammad Saeed Sarafraz, Anton V. Proskurnikov, Mohammad Saleh Tavazoei, Peyman Mohajerinesfahani

Research output: Contribution to journalArticleScientificpeer-review


We investigate the problem of practical output regulation: Design a controller that brings the system output in the vicinity of a desired target value while keeping the other variables bounded. We consider uncertain systems that are possibly nonlinear and the uncertainty of the linear part is modeled element-wise through a parametric family of matrix boxes. An optimization-based design procedures is proposed that delivers a continuous-time control and estimates the maximal regulation error. We also analyze an event-triggered emulation of this controller, which can be implemented on a digital platform, along with an explicit estimates of the regulation error.

Original languageEnglish
JournalIEEE Transactions on Automatic Control
Publication statusAccepted/In press - 14 Jul 2021


  • element-wise uncertainty
  • event-triggered control
  • Measurement uncertainty
  • Optimization
  • optimization-based synthesis
  • Regulation
  • Robust control
  • Symmetric matrices
  • System dynamics
  • Uncertainty


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