A concise survey and introduction to structured and unstructured robust output regulation, this text seeks to place robust output regulation in the context of nonlinear control systems.
Introduction: the basic ingredients of asymptotic output regulation; the
computation of the steady-state response; highlights of output regulation for
linear systems. Output regulation of nonlinear systems: the regulator
equations; the internal model; necessary and sufficient conditions for local
output regulation; the special case of harmonic exogenus inputs; approximate
regulation. Existence conditions for regulator equations: linear regulator
equations and transmission zeros; the zero dynamics of a nonlinear system;
existence of solutions of the nonlinear regulator equations. Robust output
regulation: structurally stable local regulation; robust local regulation;
the special case of systems in triangular form; a globally defined
error-zeroing invariant manifold; semiglobal robust regulation.
