Global Optimal Output Regulation of Partially Linear Systems via Robust Adaptive Dynamic Programming∗∗This work has been partly supported by the U.S. National Science Foundation grants ECCS-1101401 and ECCS-1230040.

A non-model-based robust adaptive dynamic programming (RADP) approach is developed to solve the global optimal output regulation problem (GOORP) of partially linear systems with nonlinear dynamic uncertainties. By converting the output regulation problem into a global robust optimal stabilization problem, a robust optimal controller is designed by means of the RADP for the transformed system. Nonlinear small-gain theory is applied to conclude the global asymptotic stability for the closed-loop system and thus solves the original GOORP. Simulation results illustrate the effectiveness of the proposed methodology.