On the Internal Model Principle in the Coordination of Nonlinear Systems

De Persis, C. & Jayawardhana, B., 1-Sep-2014, In : IEEE Transactions on Control of Network Systems. 1, 3, p. 272-282 11 p.

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  • On the Internal Model Principle in the Coordination of Nonlinear Systems

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The role of the internal model principle is investigated in this paper for the coordination of relative-degree-one and relative-degree-two nonlinear systems. For relative-degree-one systems that are incrementally (output-feedback) passive, we propose internal-model-based distributed control laws which guarantee output synchronization to an invariant manifold driven by autonomous synchronized internal models. For relative-degree-two systems, we consider a different internal-model-based distributed control framework for solving a formation control problem where the agents have to track a reference signal available only to the leader agent. In both cases, the local controller is also able to reject the disturbance signals generated by a local exosystem.
Original languageEnglish
Pages (from-to)272-282
Number of pages11
JournalIEEE Transactions on Control of Network Systems
Issue number3
Publication statusPublished - 1-Sep-2014


  • distributed control, feedback, invariance, nonlinear control systems, synchronisation, agents, autonomous synchronized internal models, disturbance signals, formation control problem, internal model principle, internal-model-based distributed control laws, invariant manifold, leader agent, local controller, local exosystem, output synchronization, output-feedback, reference signal tracking, relative-degree-one nonlinear systems, relative-degree-two nonlinear systems, Decentralized control, Manifolds, Mathematical model, Nonlinear systems, Observability, Synchronization, Cooperative control, disturbance rejection, nonlinear systems, passivity, synchronization

ID: 16079872