This paper is oriented to solve the output regulation problem for descriptor systems on the basis of the modified Francis equations, for arbitrary reference signals by means of High-Gain Observer as a dynamical model, where its outputs corresponds to the references to follow and the disturbances to reject involved in the regulation problem. In this way, the regulation of unmodeled but measurable reference signals is achieved. The sufficiency conditions for designing the regulator are given in this paper. Additionally, to establish a globally attractive mapping, Linear Matrix Inequalities are used to find the steady state in a straightforward manner. The nonlinear, non- minimum phase, and underactuated systems such as the Furuta Pendulum and Pendubot are used to illustrate the viability of the proposed approach. Finally, the controller implementation on the Furuta Pendulum is provided to demonstrate its performance in real-time applications.

中文翻译：

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使用高增益观测器作为未建模参考的外系统的描述符系统的输出调节

本文旨在解决基于修正弗朗西斯方程的描述符系统的输出调节问题，对于任意参考信号，以高增益观测器作为动力学模型，其输出对应于跟随的参考和扰动。拒绝涉及监管问题。通过这种方式，实现了对未建模但可测量的参考信号的调节。本文给出了设计调节器的充分条件。此外，为了建立全局有吸引力的映射，使用线性矩阵不等式以简单的方式找到稳态。非线性、非最小相位和欠驱动系统（例如 Furuta Pendulum 和 Pendubot）用于说明所提出方法的可行性。最后，提供了 Furuta Pendulum 上的控制器实现，以展示其在实时应用中的性能。