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arXiv · 2610.34360

Optimal Steady-State Regulation of Nonlinear Systems: A Feedback Optimization Approach

Wei He·Lei Wang·Jingjing Fang·ZhengGuang Wu·Hongye Su
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Abstract

This paper studies the optimal steady-state regulation problem for a class of nonlinear systems. The regulated output is required to track a trajectory that minimizes a steady-state cost depending on both the output and the exo-system. To characterize the desired steady-state behavior, we introduce a generalized regulator equation and develop a two-layer framework. The optimization layer generates the optimal reference online through a steady-state generator combined with gradient-feedback optimization dynamics, while the control layer employs backstepping to stabilize the plant and achieve the desired optimal steady-state regulation. Under suitable immersion and minimum-phase assumptions, global asymptotic stability is established.

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Wei He, Lei Wang, Jingjing Fang, ZhengGuang Wu, Hongye Su. 2026-10-25. Optimal Steady-State Regulation of Nonlinear Systems: A Feedback Optimization Approach. https://arxiv.org/abs/2610.34360

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