This paper addresses the problem of robust output regulation for uncertain nonlinear minimum phase systems affected by an unknown external disturbance. We present a novel unknown input observer (UIO)-embedded high-gain stabilizer to completely reconstruct the disturbance in a finite time. A new saturation function is introduced to prevent finite time escape of the closed-loop trajectories. This allows us to achieve a semi-globally exponential regulation of the regulated output. The proposed method features the exact cancellation rather than approximate cancellation, for both structured and/or unstructured external disturbance. The presented controller is finite-dimensional and does not require the nominal model of the plant. Finally, a numerical experiment is conducted to demonstrate the effectiveness of the proposed method.

中文翻译：

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受未知外部扰动的一类不确定非线性最小相位系统的鲁棒输出调节

本文解决了受未知外部干扰影响的不确定非线性最小相位系统的鲁棒输出调节问题。我们提出了一种新颖的未知输入观测器（UIO）嵌入式高增益稳定器，可以在有限时间内完全重建扰动。引入新的饱和函数来防止闭环轨迹的有限时间逃逸。这使我们能够实现调节输出的半全局指数调节。对于结构化和/或非结构化外部干扰，所提出的方法的特点是精确抵消而不是近似抵消。所提出的控制器是有限维的，不需要工厂的标称模型。最后，通过数值实验验证了该方法的有效性。