Impluse-free output regulation of singular nonlinear systems (Q4955092)

``This paper addresses the output regulation problem for the class of singular nonlinear systems'' \(E\dot x(t) = f(x(t), u(t), w(t)), e(t) = h(x(t), w(t)), x(0) = x_0, t\geq 0\), where \(E\) is a real, square, singular \(n\times n\) matrix, the state \(x\) has values in \(\mathbb{R}^n\), and \(u\), \(e\), and \(w\) represent the input (with values in \(\mathbb{R}^m\)), the tracking error, and the disturbance ``and/or'' the reference input, respectively. ``A generalized version of the centre manifold theorem that applies to singular nonlinear systems is established first. Then necessary and sufficient conditions are given for the solvability of the output regulation problem.'' One of the conditions imposed on the system, referred to as (H2) in the text, is: There is an \(m\times n\) matrix \(K\) such that the pencil \((E, D_1f(0)+D_2f(0)K)\) is of index \(1\) and has no eigenvalues with nonnegative real part.