Results on Global Robust Output Regulation

In this paper, we discuss the problem of global robust output regulation for a class of nonlinear systems. With respect to earlier results on this problem for the same class of systems, the major advancement is the assumption that a nonlinear differential equation models the class of all inputs needed to secure perfect tracking, as opposed to the earlier results in which the equation in question was supposed to be linear. The design procedure leads to a nonlinear internal model complimented by an adaptively tuned high-gain error feedback