Data-driven output regulation of nonlinear systems via incremental passivity

This work addresses data-driven output regulation of nonlinear systems with unknown system parameters. Using incremental passivity, output regulation is achieved by interconnecting an incrementally passive internal model and an incrementally passive closed-loop system of the plant. The controller that makes the closed-loop system incrementally passive is characterized by linear matrix inequalities using finite offline data. A numerical example verifies the proposed data-driven regulator design.