Incremental passivity and output regulation

In this paper we investigate the use of incremental passivity concepts for the design of nonlinear regulators. For a specific class of systems and exosystems we show how the problem of designing an internal model-based regulator is reduced to the design of an output feedback controller rendering the controlled plant incrementally passive. In this paper we present a constructive result to design an output feedback controller achieving incremental passivity for a particular class of nonlinear systems