Output regulation for nonlinear systems via integral sliding mode

This paper addresses the problem of nonlinear output regulation for nonlinear systems driven by nonlinear exosystems. Under appropriate hypotheses, a new discontinuous control algorithm based on integral sliding modes is proposed to ensure the tracking error to approach to zero asymptotically. Stability analysis of the closed-loop systems is carried out using the Lyapunov method. An example is given to show the effectiveness of the developed approach.