Journal of Systems Engineering and Electronics ›› 2023, Vol. 34 ›› Issue (4): 1033-1041.doi: 10.23919/JSEE.2023.000098


Robust output regulation problem with prescribed performance for nonlinear strict feedback systems

Haichao ZHU1,2(), Weiyao LAN1,*()   

  1. 1 Department of Automation, Xiamen University, Xiamen 361005, China
    2 Department of Automation, Henan University of Science and Technology, Luoyang 471000, China
  • Received:2022-01-18 Online:2023-08-18 Published:2023-08-28
  • Contact: Weiyao LAN;
  • About author:
    ZHU Haichao was born in 1991. He received his M.S. degree in control engineering from Northeast Electric Power University, China in 2018. He is pursuing his Ph.D. degree in control theory and control engineering from Xiamen University, Xiamen, China. His research interests include nonlinear control, switched systems, and output regulation. E-mail:

    LAN Weiyao was born in 1973. He received his B.S. degree in precision instrument from Chongqing University, Chongqing, China, in 1995, M.S. degree in control theory and control engineering from Xiamen University, Xiamen, China, in 1998, and Ph.D. degree in automation and computer aided engineering from Chinese University of Hong Kong, in 2004. From 2004 to 2006, he was a research fellow in the Department of Electrical and Computer Engineering, National University of Singapore, Singapore. Since December 2006, he has been with the Department of Automation, Xiamen University, Xiamen, China, where he is currently a professor. He is a member of Technical Committee on Control Theory, Chinese Associate of Automation, and the vice president of Fujian Association of Automation. His research interests include nonlinear control theory and applications, intelligent control technology, and robust and optimal control. E-mail:
  • Supported by:
    This work was supported by the National Natural Science Foundation of China (61873219)


This paper investigates the problem of robust output regulation control with prospected transient property for strict feedback systems. By employing the internal model principle, the robust output regulation problem with a prospected property can be transformed to a robust stabilization problem with a new output constraint. Then, by constructing the speed function and adopting barrier Lyapunov function technique, the dynamic feedback controller can be designed not only to drive error output of the closed-loop system entering into a prescribed performance bound within a given finite time, but also to achieve that the error output converges to zero asymptotically. The effectiveness of the results is illustrated by a simulation example.

Key words: robust output regulation, nonlinear system, prescribed performance bound, speed function, finite time