Output regulation of linear systems with non-linear exosystems

This paper deals with output regulation with nonlinear exosystems. The dynamic system itself is assumed to be linear. Nonlinear observer design techniques are exploited for the internal model design. A new strategy for internal model design is proposed, based on a dynamic extension of the existing nonlinear observer design for the nonlinear exosystem. Additional filters are used to estimate the invariant manifold in the state space subject to the nonlinear exosystem. The proposed design for the internal model and control ensures that the state variable asymptotically converge to the invariant manifold, which implies that the regulated output state asymptotically converge to zero.