Ricerc@Sapienza

In this paper the problem of optimizing the output regulation of a weakly dual redundant plant with multiple actuators is addressed from a control theoretic viewpoint. When a system is underactuated, only subsets of the outputs can be independently controlled, while the remaining ones are constrained. With a specific focus on the asymptotic output tracking problem for MIMO systems with periodic references, we investigate the connection between the overall optimal input and the individually optimal controllers that lead to a perfect tracking of each output component.

In this paper the problem of optimizing the regulation of a weakly dual redundant plant with multiple actuators is addressed. When the system is underactuated, only a subset of the outputs can be independently controlled. In this regard, the main objective of the paper pertains the optimization of the steady-state performance of the plant. A connection between the overall optimal input and the inputs that provide a perfect reference tracking of the full controllable square subsystems is established.