Semi-global robust output regulation for nonlinear systems in normal form using output feedback (Q873688)

The paper is about the output regulation problem for nonlinear control systems. The authors follow a two-step procedure. First, the original output regulation problem is converted into a stabilization problem for an extended system. More specifically, the exogenous reference signal is treated as a time-varying disturbance that can be handled in the same way as uncertainty affecting the system. Second, the stabilization problem is solved by adapting an approach from Mahmoud and Khalil. The authors are interested in relaxing the standard assumptions that are generally enforced, namely that the system only contains polynomial nonlinearities.