Utility of the Koopman operator in output regulation of disturbed nonlinear systems

Abstract

This paper studies the problem of output regulation for a class of nonlinear systems experiencing matched input disturbances. It is assumed that the disturbance signal is generated by an external autonomous dynamical system. First, we show that for a class of nonlinear systems admitting a finite-dimensional Koopman representation, the problem is equivalent to a bilinear output regulation. We then prove that a linear dynamic output feedback controller, inspired by the linear output regulation framework, locally solves the original nonlinear problem. Numerical results validate our analysis.