Recent advances in output regulation of nonlinear systems (Q2709094)

The paper describes an approach to the regulation of a measured error of nonlinear dynamics based on output feedback into an internal model reference equation. It is also required that the outcome be robust to persistent bounded perturbations within a prescribed region. Several versions of the problems are offered, treating, respectively, semi-global output regulation, global regulation and adaptive internal models. The approach is geometrical, assuming smooth nonlinearities, which allow diffeomorphic equivalence to normal forms. The paper then shows how the internal model properties, which are directly related to the geometric considerations, can yield the desired regulation. A convincing, enlightening example is offered of a vertical landing and takeoff air vehicle required to land on a sea vessel when only the tracking errors and their derivatives are available. For the entire collection see [Zbl 0953.00023].