Transient Optimization in Output Regulation via Feedforward Selection and Regulator State Initialization

Output regulation is typically enforced by the use of Internal Model based regulators, which guarantee that steady-state performance (asymptotic tracking and disturbance rejection) is achieved. However, although the overall performance of the regulated system is essentially linked to the properties of the transient responses of such regulators, only a limited attention has been devoted in the literature to such properties, especially in the MIMO case. In this paper, we address the problem of optimizing the transient responses of an already designed closed-loop system including an internal model based output regulation device, by the use of two mechanisms: the selection of an optimized feedforward gain, and the initialization of the states of the regulator. These two mechanisms can be employed both combined or separately, depending on the available information, the control objectives and other application-related constraints.