Output Regulation of Uncertain Nonlinear Systems

Introduction: the basic ingredients of asymptotic output regulation; the computation of the steady-state response; highlights of output regulation for linear systems. Output regulation of nonlinear systems: the regulator equations; the internal model; necessary and sufficient conditions for local output regulation; the special case of harmonic exogenus inputs; approximate regulation. Existence conditions for regulator equations: linear regulator equations and transmission zeros; the zero dynamics of a nonlinear system; existence of solutions of the nonlinear regulator equations. Robust output regulation: structurally stable local regulation; robust local regulation; the special case of systems in triangular form; a globally defined error-zeroing invariant manifold; semiglobal robust regulation.