The goal of this paper is to propose a unique vision able to frame a number of results recently proposed in literature to tackle problems of output regulation for nonlinear systems. This is achieved by introducing the so-called asymptotic internal model property as the crucial property which, if fulfilled, leads to the design of the regulator for a fairly general class of nonlinear systems satisfying a proper minimum-phase condition. It is shown that recent frameworks based upon the use of nonlinear high-gain and adaptive observer techniques for the regulator design can be cast in this setting. A recently proposed technique for output regulation without immersion is also framed in these terms. © Springer-Verlag Berlin Heidelberg 2007.
CITATION STYLE
Marconi, L., & Isidori, A. (2007). A unifying approach to the design of nonlinear output regulators. Lecture Notes in Control and Information Sciences, 353, 185–200. https://doi.org/10.1007/978-3-540-70701-1_10
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