Mixed internal model-based and feedforward control for robust tracking in nonlinear systems (Q1571081)

The paper reviews how the problem of output regulation of nonlinear systems can be approached from different points of view. Both the approaches of asymptotic output regulation and perfect tracking are presented in a unique framework, comparing the different features and highlighting the common geometric insight. The goal is the design of a control, so as to be able to achieve perfect tracking (in the case of perfectly known initial conditions and system parameters) and at least asymptotic tracking (in the case when the above conditions are not met). Some simulation results are also presented.