Robust output regulation of $2\times 2$ hyperbolic systems: Control law and Input-to-State Stability

Abstract

We consider the problem of output feedback regulation for a linear first-order hyperbolic system with collocated input and output in presence of a general class of disturbances and noise. The proposed control law is designed through a backstepping approach incorporating an integral action. To ensure robustness to delays, the controller only cancels part of the boundary reflection by means of a tunable parameter. This also enables a trade-off between disturbance and noise sensitivity. We show that the boundary condition of the obtained target system can be transformed into a Neutral Differential Equation (NDE) and that this latter system is Input-to-State Stable (ISS). This proves the boundedness of the controlled output for the target system. This extends previous works considering an integral action for this kind of system [1], and constitutes an important step towards practical implementation of such controllers.