In Marconi et al. (2007), the theory of nonlinear Luenberger observers was exploited to prove that a solution to the asymptotic output regulation problem for minimum-phase normal forms always exists. The paper provided an existence result and a very general regulator structure, although unfortunately, no constructive method was given to design all the degrees of freedom of the regulator. In this paper, we complete this design by introducing an adaptive unit tuning the regulator online by employing system identification algorithms selecting the “best” parameters according to a certain optimization policy. Instead of focusing on a single identification scheme, we give general conditions under which an algorithm may be used in the framework, and we develop a particular least-squares identifier satisfying these requirements. Closed-loop stability results are given, and it is shown that the asymptotic regulation error is related to the prediction capabilities of the identifier evaluated along the ideal error-zeroing steady-state trajectories.

在马可尼等人。（2007年），非线性Luenberger观察者的理论被用来证明，最小相位正态形式的渐近输出调节问题的解一直存在。该论文提供了一个存在的结果和一个非常通用的调节器结构，尽管不幸的是，没有给出建设性的方法来设计调节器的所有自由度。在本文中，我们通过引入自适应单元来在线完成调节器的设计，该单元通过采用系统识别算法根据特定的优化策略选择“最佳”参数来在线调节调节器。我们不再关注单一的识别方案，而是给出了可以在框架中使用算法的一般条件，并且我们开发了满足这些要求的特定最小二乘法标识符。